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--- a/fridge_7/experiment_config_20260510_024111.pkl
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:196391763d1310ff76773df01e0df09d7125e933e3615f62355e749152d3fe14
-size 7992
diff --git a/fridge_7/running_log.log b/fridge_7/running_log.log
deleted file mode 100644
index ac2a2f5a7ce4eecd1e5ed3376e3ad628dd47b9fb..0000000000000000000000000000000000000000
--- a/fridge_7/running_log.log
+++ /dev/null
@@ -1,60173 +0,0 @@
-05/10 02:41:11 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 02:41:11 INFO: Starting house-by-house rollout of 1 houses with 40 episodes each (40 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 02:41:11 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 02:41:11 INFO: {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x70e1c5c22390>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 2104,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 40,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 02:41:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 02:41:11 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 02:41:11 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 02:41:11 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 02:41:11 INFO: Starting house-by-house rollout of 1 houses with 40 episodes each (40 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 02:41:11 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 02:41:11 INFO: {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x73415501e110>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 2102,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 40,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 02:41:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 02:41:11 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 02:41:11 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 02:41:11 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 02:41:11 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 02:41:11 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 02:41:11 INFO: Starting house-by-house rollout of 1 houses with 40 episodes each (40 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 02:41:11 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 02:41:11 INFO: {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x72520ef6b550>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 2101,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 40,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 02:41:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 02:41:11 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 02:41:11 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 02:41:11 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 02:41:11 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/10 02:41:11 INFO: Starting house-by-house rollout of 1 houses with 40 episodes each (40 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/10 02:41:11 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/10 02:41:11 INFO: {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x74d445607790>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge_7',
- 'seed': 2103,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.1),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 1,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 40,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/10 02:41:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/10 02:41:12 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/10 02:41:12 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/10 02:41:12 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/10 02:41:14 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 02:41:14 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 02:41:14 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 02:41:14 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 02:41:14 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 02:41:14 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 02:41:14 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 02:41:14 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 02:41:14 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 02:41:14 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 02:41:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:41:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:41:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:41:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:41:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:41:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:41:14 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 02:41:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:41:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:41:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007699m	[env.py: 870]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:41:14 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 02:41:14 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 02:41:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:41:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:41:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031803m	[env.py: 870]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:41:14 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 02:41:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:41:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:41:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:41:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:41:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:41:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036575m	[env.py: 870]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:41:14 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89765867  0.51613133 -0.03657454] yaw=-183.3deg	[env.py: 1019]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89606037  0.82572452 -0.03657454] yaw=-152.4deg	[env.py: 1019]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05117031  0.74557271 -0.03657454] yaw=-150.4deg	[env.py: 1019]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:41:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=14.9ms, retries=200.0ms, total=214.9ms	[env.py: 1075]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.898, 0.516, -0.037)	[env.py: 1079]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.3 deg	[env.py: 1082]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
-05/10 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90749351  0.70149067  0.03180295] yaw=-171.9deg	[env.py: 1019]
-05/10 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.22633439  1.02019524  0.03180295] yaw=-132.9deg	[env.py: 1019]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:41:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=14.6ms, retries=427.1ms, total=441.7ms	[env.py: 1075]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.907, 0.701, 0.032)	[env.py: 1079]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.9 deg	[env.py: 1082]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
-05/10 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:41:15 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/10 02:41:15 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7550484   0.85670271 -0.00769888] yaw=-151.7deg	[env.py: 1019]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81756074  0.25513833 -0.00769888] yaw=165.2deg	[env.py: 1019]
-05/10 02:41:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:41:15 INFO: [Worker 0] Worker 0 house 1 episode 0/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:41:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=14.5ms, retries=568.0ms, total=582.5ms	[env.py: 1075]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.755, 0.857, -0.008)	[env.py: 1079]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.7 deg	[env.py: 1082]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m	[env.py: 1086]
-05/10 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:41:15 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/10 02:41:15 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/10 02:41:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:41:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:41:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:41:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:41:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:41:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045676m	[env.py: 870]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:41:15 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84399825  0.69967871  0.04567625] yaw=-159.5deg	[env.py: 1019]
-05/10 02:41:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:41:15 INFO: [Worker 0] Worker 0 house 1 episode 0/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:41:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=15.9ms, retries=185.2ms, total=201.1ms	[env.py: 1075]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.844, 0.700, 0.046)	[env.py: 1079]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.5 deg	[env.py: 1082]
-05/10 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
-05/10 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:41:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:41:15 INFO: [Worker 0] Worker 0 house 1 episode 0/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:41:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:41:15 INFO: [Worker 0] Worker 0 house 1 episode 0/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:41:44 INFO: [Worker 0] Warmed up parallel IK solver in 29.164s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:41:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:41:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:41:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:41:45 INFO: [Worker 0] Warmed up parallel IK solver in 29.565s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:41:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:41:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.561s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:41:45 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.321[m] 82.105[deg]	[grasp_sample.py: 539]
-05/10 02:41:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:41:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:41:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:41:45 INFO: [Worker 0] Warmed up parallel IK solver in 29.456s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:41:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:41:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:41:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:41:45 INFO: [Worker 0] Warmed up parallel IK solver in 29.945s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:41:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:41:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:41:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:41:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:41:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:41:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.492s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:41:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.390[m] 92.507[deg]	[grasp_sample.py: 539]
-05/10 02:41:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:41:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:41:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.479[m] 95.989[deg]	[grasp_sample.py: 539]
-05/10 02:41:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:41:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:41:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:41:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:41:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:41:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.661s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:41:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.563[m] 86.998[deg]	[grasp_sample.py: 539]
-05/10 02:41:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:41:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:41:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:42:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:42:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:42:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:42:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:42:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:42:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:42:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:42:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:42:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:42:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:43:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:43:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:44:36 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 02:44:40 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 02:44:40 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 02:44:40 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 02:44:59 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 02:44:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 02:44:59 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
-05/10 02:45:02 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 02:45:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 02:45:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 02:45:02 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 02:45:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 02:45:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 02:45:02 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 02:45:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 02:45:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 02:45:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 02:45:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 02:45:12 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.63s (batch: 4.62s, save: 9.01s)	[pipeline.py: 300]
-05/10 02:45:13 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.04s:
-  episode_total: mean=242.22s, total=242.22s, count=1, min=242220.7ms, max=242220.7ms
-  sensor_polling: mean=544.9ms, total=154.76s, count=284, min=469.4ms, max=759.8ms
-  save_trajectories: mean=9.01s, total=9.01s, count=1, min=9011.6ms, max=9011.6ms
-  physics_step: mean=29.6ms, total=8.42s, count=284, min=17.9ms, max=117.0ms
-  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4618.9ms, max=4618.9ms
-  task_sampling: mean=4.04s, total=4.04s, count=1, min=4042.2ms, max=4042.2ms
-  scene_load: mean=3.46s, total=3.46s, count=1, min=3462.2ms, max=3462.2ms
-  scene_env_create: mean=2.44s, total=2.44s, count=1, min=2444.6ms, max=2444.6ms
-  scene_compile: mean=896.5ms, total=896.5ms, count=1, min=896.5ms, max=896.5ms
-  compile_mujoco: mean=685.4ms, total=685.4ms, count=1, min=685.4ms, max=685.4ms
-  task_specific_sample: mean=577.3ms, total=577.3ms, count=1, min=577.3ms, max=577.3ms
-  compile_xml_load: mean=143.2ms, total=143.2ms, count=1, min=143.2ms, max=143.2ms
-  scene_init: mean=72.9ms, total=72.9ms, count=1, min=72.9ms, max=72.9ms
-  compile_aux_objects: mean=52.4ms, total=52.4ms, count=1, min=52.4ms, max=52.4ms
-  compile_aux_policy_objects: mean=52.4ms, total=52.4ms, count=1, min=52.4ms, max=52.4ms
-  scene_asset_install: mean=47.9ms, total=47.9ms, count=1, min=47.9ms, max=47.9ms
-  asset_install_grasps: mean=33.5ms, total=33.5ms, count=1, min=33.5ms, max=33.5ms
-  asset_install_objects: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms
-  compile_robot_add: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms
-  asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=408.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=33.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 02:45:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:45:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:45:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:45:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:45:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:45:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:45:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:45:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:45:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040002m	[env.py: 870]
-05/10 02:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:45:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75502666  0.41380943 -0.0400023 ] yaw=170.0deg	[env.py: 1019]
-05/10 02:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70482314  0.85255505 -0.0400023 ] yaw=-156.8deg	[env.py: 1019]
-05/10 02:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.13069029  0.94422498 -0.0400023 ] yaw=-143.7deg	[env.py: 1019]
-05/10 02:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 02:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:45:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.2ms, total=116.2ms	[env.py: 1075]
-05/10 02:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.755, 0.414, -0.040)	[env.py: 1079]
-05/10 02:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg	[env.py: 1082]
-05/10 02:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
-05/10 02:45:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:45:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:45:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:45:15 INFO: [Worker 0] Worker 0 house 1 episode 1/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:45:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:45:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:45:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:45:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:45:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 02:45:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 02:45:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.56s (batch: 4.22s, save: 9.34s)	[pipeline.py: 300]
-05/10 02:45:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:45:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.537[m] 93.767[deg]	[grasp_sample.py: 539]
-05/10 02:45:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:45:16 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.93s:
-  episode_total: mean=244.90s, total=244.90s, count=1, min=244897.0ms, max=244897.0ms
-  sensor_polling: mean=541.3ms, total=162.40s, count=300, min=459.1ms, max=765.2ms
-  save_trajectories: mean=9.34s, total=9.34s, count=1, min=9343.0ms, max=9343.0ms
-  physics_step: mean=26.4ms, total=7.93s, count=300, min=17.3ms, max=105.6ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4220.7ms, max=4220.7ms
-  task_sampling: mean=3.92s, total=3.92s, count=1, min=3925.0ms, max=3925.0ms
-  scene_load: mean=3.41s, total=3.41s, count=1, min=3412.7ms, max=3412.7ms
-  scene_env_create: mean=2.29s, total=2.29s, count=1, min=2292.0ms, max=2292.0ms
-  scene_compile: mean=879.0ms, total=879.0ms, count=1, min=879.0ms, max=879.0ms
-  compile_mujoco: mean=574.7ms, total=574.7ms, count=1, min=574.7ms, max=574.7ms
-  task_specific_sample: mean=508.2ms, total=508.2ms, count=1, min=508.2ms, max=508.2ms
-  compile_xml_load: mean=219.4ms, total=219.4ms, count=1, min=219.4ms, max=219.4ms
-  scene_init: mean=136.4ms, total=136.4ms, count=1, min=136.4ms, max=136.4ms
-  scene_asset_install: mean=105.0ms, total=105.0ms, count=1, min=105.0ms, max=105.0ms
-  asset_install_grasps: mean=73.9ms, total=73.9ms, count=1, min=73.9ms, max=73.9ms
-  compile_aux_objects: mean=66.3ms, total=66.3ms, count=1, min=66.3ms, max=66.3ms
-  compile_aux_policy_objects: mean=66.3ms, total=66.3ms, count=1, min=66.3ms, max=66.3ms
-  asset_install_objects: mean=22.8ms, total=22.8ms, count=1, min=22.8ms, max=22.8ms
-  compile_robot_add: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
-  asset_install_scene: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms
-  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
-  mj_forward_sync: mean=676.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=31.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 02:45:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 02:45:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 02:45:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.42s (batch: 4.59s, save: 9.83s)	[pipeline.py: 300]
-05/10 02:45:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:45:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:45:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 02:45:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 02:45:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.42s (batch: 4.16s, save: 10.25s)	[pipeline.py: 300]
-05/10 02:45:17 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.65s:
-  episode_total: mean=246.81s, total=246.81s, count=1, min=246809.8ms, max=246809.8ms
-  sensor_polling: mean=536.2ms, total=160.87s, count=300, min=450.7ms, max=802.2ms
-  save_trajectories: mean=9.83s, total=9.83s, count=1, min=9828.5ms, max=9828.5ms
-  physics_step: mean=26.1ms, total=7.84s, count=300, min=19.3ms, max=85.8ms
-  task_sampling: mean=4.65s, total=4.65s, count=1, min=4649.2ms, max=4649.2ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4587.3ms, max=4587.3ms
-  scene_load: mean=3.72s, total=3.72s, count=1, min=3718.3ms, max=3718.3ms
-  scene_env_create: mean=2.53s, total=2.53s, count=1, min=2526.5ms, max=2526.5ms
-  scene_compile: mean=1.08s, total=1.08s, count=1, min=1077.6ms, max=1077.6ms
-  task_specific_sample: mean=927.5ms, total=927.5ms, count=1, min=927.5ms, max=927.5ms
-  compile_mujoco: mean=641.2ms, total=641.2ms, count=1, min=641.2ms, max=641.2ms
-  compile_xml_load: mean=363.6ms, total=363.6ms, count=1, min=363.6ms, max=363.6ms
-  scene_init: mean=72.8ms, total=72.8ms, count=1, min=72.8ms, max=72.8ms
-  compile_aux_objects: mean=45.5ms, total=45.5ms, count=1, min=45.5ms, max=45.5ms
-  compile_aux_policy_objects: mean=45.5ms, total=45.5ms, count=1, min=45.5ms, max=45.5ms
-  scene_asset_install: mean=41.1ms, total=41.1ms, count=1, min=41.1ms, max=41.1ms
-  asset_install_grasps: mean=30.3ms, total=30.3ms, count=1, min=30.3ms, max=30.3ms
-  compile_robot_add: mean=15.4ms, total=15.4ms, count=1, min=15.4ms, max=15.4ms
-  asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
-  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=453.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=41.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 02:45:17 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.89s:
-  episode_total: mean=246.25s, total=246.25s, count=1, min=246251.7ms, max=246251.7ms
-  sensor_polling: mean=543.4ms, total=163.02s, count=300, min=465.7ms, max=896.2ms
-  save_trajectories: mean=10.25s, total=10.25s, count=1, min=10254.4ms, max=10254.4ms
-  physics_step: mean=26.2ms, total=7.87s, count=300, min=16.6ms, max=110.0ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4164.4ms, max=4164.4ms
-  task_sampling: mean=3.89s, total=3.89s, count=1, min=3891.4ms, max=3891.4ms
-  scene_load: mean=3.09s, total=3.09s, count=1, min=3095.0ms, max=3095.0ms
-  scene_env_create: mean=2.13s, total=2.13s, count=1, min=2131.8ms, max=2131.8ms
-  task_specific_sample: mean=792.9ms, total=792.9ms, count=1, min=792.9ms, max=792.9ms
-  scene_compile: mean=788.7ms, total=788.7ms, count=1, min=788.7ms, max=788.7ms
-  compile_mujoco: mean=566.0ms, total=566.0ms, count=1, min=566.0ms, max=566.0ms
-  compile_xml_load: mean=155.0ms, total=155.0ms, count=1, min=155.0ms, max=155.0ms
-  scene_asset_install: mean=100.1ms, total=100.1ms, count=1, min=100.1ms, max=100.1ms
-  scene_init: mean=74.1ms, total=74.1ms, count=1, min=74.1ms, max=74.1ms
-  asset_install_grasps: mean=56.8ms, total=56.8ms, count=1, min=56.8ms, max=56.8ms
-  compile_aux_objects: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms
-  compile_aux_policy_objects: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms
-  asset_install_scene: mean=23.2ms, total=23.2ms, count=1, min=23.2ms, max=23.2ms
-  asset_install_objects: mean=20.1ms, total=20.1ms, count=1, min=20.1ms, max=20.1ms
-  compile_robot_add: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=459.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=34.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 02:45:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:45:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:45:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:45:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:45:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:45:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:45:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:45:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:45:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:45:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:45:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030959m	[env.py: 870]
-05/10 02:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:45:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.16126435  0.96246019  0.03095883] yaw=-129.7deg	[env.py: 1019]
-05/10 02:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89000217  0.52768203  0.03095883] yaw=-186.3deg	[env.py: 1019]
-05/10 02:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70775963  0.58942276  0.03095883] yaw=-163.8deg	[env.py: 1019]
-05/10 02:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 02:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:45:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.6ms, total=94.6ms	[env.py: 1075]
-05/10 02:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.161, 0.962, 0.031)	[env.py: 1079]
-05/10 02:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.7 deg	[env.py: 1082]
-05/10 02:45:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.724m	[env.py: 1086]
-05/10 02:45:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:45:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:45:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:45:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:45:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:45:19 INFO: [Worker 0] Worker 0 house 1 episode 1/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:45:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:45:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:45:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:45:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:45:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:45:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:45:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:45:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:45:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:45:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:45:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013057m	[env.py: 870]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:45:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94688971  1.2199395   0.01305703] yaw=-133.4deg	[env.py: 1019]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:45:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:45:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:45:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:45:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:45:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:45:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:45:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027313m	[env.py: 870]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:45:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74609368  0.27137103  0.01305703] yaw=172.6deg	[env.py: 1019]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85794534  0.18659137  0.02731277] yaw=168.3deg	[env.py: 1019]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9722916   0.72320842  0.02731277] yaw=-158.2deg	[env.py: 1019]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:45:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.742s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:45:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.277[m] 85.237[deg]	[grasp_sample.py: 539]
-05/10 02:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69335971  0.22691155  0.02731277] yaw=165.0deg	[env.py: 1019]
-05/10 02:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 02:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:45:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=190.8ms, total=190.9ms	[env.py: 1075]
-05/10 02:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.858, 0.187, 0.027)	[env.py: 1079]
-05/10 02:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.3 deg	[env.py: 1082]
-05/10 02:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
-05/10 02:45:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:45:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.8577955   0.839063    0.01305703] yaw=-158.2deg	[env.py: 1019]
-05/10 02:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 02:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:45:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=364.0ms, total=364.0ms	[env.py: 1075]
-05/10 02:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.947, 1.220, 0.013)	[env.py: 1079]
-05/10 02:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.4 deg	[env.py: 1082]
-05/10 02:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
-05/10 02:45:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:45:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:45:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:45:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:45:20 INFO: [Worker 0] Worker 0 house 1 episode 1/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:45:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:45:20 INFO: [Worker 0] Worker 0 house 1 episode 1/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:45:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:45:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:45:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:45:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:45:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:45:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:45:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:45:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:45:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:45:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:45:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.071s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:45:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.500[m] 97.109[deg]	[grasp_sample.py: 539]
-05/10 02:45:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:45:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:45:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:45:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.361s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:45:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.586[m] 84.519[deg]	[grasp_sample.py: 539]
-05/10 02:45:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:45:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:45:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:45:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:46:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:46:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:46:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:46:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:46:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:46:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:46:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:46:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:46:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:46:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:46:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:47:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:47:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:47:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:47:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:47:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:47:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:47:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:47:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:47:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 02:47:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 02:47:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:47:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:47:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:47:46 INFO: [Worker 0] Feasibility-checked 80 grasps in 3.559s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 02:47:46 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 02:47:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:47:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:47:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:47:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:47:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:47:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:47:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:47:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:47:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033460m	[env.py: 870]
-05/10 02:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:47:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04289198  0.80500332  0.03345982] yaw=-146.3deg	[env.py: 1019]
-05/10 02:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92672785  0.08949888  0.03345982] yaw=160.5deg	[env.py: 1019]
-05/10 02:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.64624439  0.54988967  0.03345982] yaw=-168.0deg	[env.py: 1019]
-05/10 02:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 02:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:47:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=210.3ms, total=210.3ms	[env.py: 1075]
-05/10 02:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.043, 0.805, 0.033)	[env.py: 1079]
-05/10 02:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.3 deg	[env.py: 1082]
-05/10 02:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.734m	[env.py: 1086]
-05/10 02:47:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:47:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:47:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:47:48 INFO: [Worker 0] Worker 0 house 1 episode 2/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:47:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:47:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:47:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:47:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:47:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.605s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:47:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.268[m] 78.093[deg]	[grasp_sample.py: 539]
-05/10 02:47:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:47:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:47:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:47:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:48:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:48:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:48:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:48:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:48:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:48:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:48:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:48:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:48:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:48:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:48:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:48:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:48:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 02:48:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 02:48:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:48:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:48:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:48:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:48:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:48:18 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 02:48:18 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.856s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:48:18 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.387[deg]	[grasp_sample.py: 539]
-05/10 02:48:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:48:20 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 02:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:48:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 02:48:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 02:48:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:48:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:48:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:48:21 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.448s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:48:21 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.770[deg]	[grasp_sample.py: 539]
-05/10 02:48:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:48:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:48:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:48:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:48:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:48:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:48:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:48:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:48:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:48:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:48:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:48:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017044m	[env.py: 870]
-05/10 02:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:48:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79310887  0.78357339 -0.01704351] yaw=-153.9deg	[env.py: 1019]
-05/10 02:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03143004  0.69655711 -0.01704351] yaw=-152.7deg	[env.py: 1019]
-05/10 02:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78675892  1.0573559  -0.01704351] yaw=-153.2deg	[env.py: 1019]
-05/10 02:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 02:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:48:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=194.7ms, total=194.8ms	[env.py: 1075]
-05/10 02:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.793, 0.784, -0.017)	[env.py: 1079]
-05/10 02:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.9 deg	[env.py: 1082]
-05/10 02:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m	[env.py: 1086]
-05/10 02:48:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:48:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:48:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:48:22 INFO: [Worker 0] Worker 0 house 1 episode 2/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:48:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:48:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:48:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:48:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:48:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.589s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:48:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.507[m] 83.047[deg]	[grasp_sample.py: 539]
-05/10 02:48:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:48:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:48:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:48:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:48:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:48:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:48:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:48:41 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 02:48:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 02:48:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 02:48:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:48:48 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 02:49:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 02:49:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 02:49:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 18.19s (batch: 6.33s, save: 11.85s)	[pipeline.py: 300]
-05/10 02:49:00 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.45s:
-  episode_total: mean=225.38s, total=225.38s, count=1, min=225384.5ms, max=225384.5ms
-  sensor_polling: mean=559.7ms, total=167.90s, count=300, min=457.9ms, max=869.7ms
-  save_trajectories: mean=11.85s, total=11.85s, count=1, min=11854.6ms, max=11854.6ms
-  physics_step: mean=29.9ms, total=8.97s, count=300, min=14.7ms, max=109.5ms
-  save_batch_prep: mean=6.33s, total=6.33s, count=1, min=6332.5ms, max=6332.5ms
-  task_sampling: mean=454.9ms, total=454.9ms, count=1, min=454.9ms, max=454.9ms
-  task_specific_sample: mean=449.5ms, total=449.5ms, count=1, min=449.5ms, max=449.5ms
-  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  mj_forward_sync: mean=703.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=24.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 02:49:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:49:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:49:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:49:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:49:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:49:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:49:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:49:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:49:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005569m	[env.py: 870]
-05/10 02:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:49:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70318715  0.32254597 -0.00556882] yaw=173.7deg	[env.py: 1019]
-05/10 02:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91883772  1.17119482 -0.00556882] yaw=-130.2deg	[env.py: 1019]
-05/10 02:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86803892  0.85922119 -0.00556882] yaw=-145.4deg	[env.py: 1019]
-05/10 02:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 02:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:49:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=210.2ms, total=210.2ms	[env.py: 1075]
-05/10 02:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.703, 0.323, -0.006)	[env.py: 1079]
-05/10 02:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.7 deg	[env.py: 1082]
-05/10 02:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m	[env.py: 1086]
-05/10 02:49:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:49:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:49:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:49:03 INFO: [Worker 0] Worker 0 house 1 episode 2/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:49:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:49:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:49:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:49:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:49:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.629s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:49:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.553[m] 88.182[deg]	[grasp_sample.py: 539]
-05/10 02:49:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:49:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:49:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:49:15 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 02:49:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 02:49:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 02:49:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:49:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 02:49:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 02:49:32 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.77s (batch: 4.88s, save: 12.89s)	[pipeline.py: 300]
-05/10 02:49:33 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.58s:
-  episode_total: mean=253.70s, total=253.70s, count=1, min=253701.8ms, max=253701.8ms
-  sensor_polling: mean=565.3ms, total=169.59s, count=300, min=464.9ms, max=1033.6ms
-  save_trajectories: mean=12.89s, total=12.89s, count=1, min=12888.4ms, max=12888.4ms
-  physics_step: mean=29.3ms, total=8.79s, count=300, min=15.7ms, max=124.2ms
-  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4879.3ms, max=4879.3ms
-  task_sampling: mean=582.3ms, total=582.3ms, count=1, min=582.3ms, max=582.3ms
-  task_specific_sample: mean=573.1ms, total=573.1ms, count=1, min=573.1ms, max=573.1ms
-  scene_randomize: mean=7.4ms, total=7.4ms, count=1, min=7.4ms, max=7.4ms
-  mj_forward_sync: mean=784.5us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
-  policy_setup: mean=26.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 02:49:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:49:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:49:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:49:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:49:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:49:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:49:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:49:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:49:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:49:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003830m	[env.py: 870]
-05/10 02:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:49:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97609079  0.67775402 -0.00383032] yaw=-169.8deg	[env.py: 1019]
-05/10 02:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:49:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=258.8ms, total=258.9ms	[env.py: 1075]
-05/10 02:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.976, 0.678, -0.004)	[env.py: 1079]
-05/10 02:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.8 deg	[env.py: 1082]
-05/10 02:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
-05/10 02:49:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:49:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:49:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:49:35 INFO: [Worker 0] Worker 0 house 1 episode 2/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:49:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:49:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:49:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:49:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:49:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:49:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.299[m] 81.517[deg]	[grasp_sample.py: 539]
-05/10 02:49:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:49:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:49:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:49:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:50:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:50:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:50:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:50:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:50:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:50:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:50:37 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 02:51:00 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 02:51:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 02:51:00 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
-05/10 02:51:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 02:51:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 02:51:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.21s (batch: 4.51s, save: 9.71s)	[pipeline.py: 300]
-05/10 02:51:15 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.31s:
-  episode_total: mean=176.99s, total=353.98s, count=2, min=146721.5ms, max=207260.7ms
-  sensor_polling: mean=563.3ms, total=274.88s, count=488, min=452.2ms, max=1227.2ms
-  physics_step: mean=28.5ms, total=13.92s, count=488, min=16.1ms, max=120.5ms
-  save_trajectories: mean=9.71s, total=9.71s, count=1, min=9706.5ms, max=9706.5ms
-  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4505.4ms, max=4505.4ms
-  task_sampling: mean=656.7ms, total=1.31s, count=2, min=610.8ms, max=702.7ms
-  task_specific_sample: mean=652.7ms, total=1.31s, count=2, min=607.0ms, max=698.4ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.7ms, max=2.7ms
-  mj_forward_sync: mean=528.5us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=25.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 02:51:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:51:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:51:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:51:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:51:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:51:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:51:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:51:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:51:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012476m	[env.py: 870]
-05/10 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:51:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.06827231  0.90894554  0.01247632] yaw=-144.7deg	[env.py: 1019]
-05/10 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.69186289  0.068618    0.01247632] yaw=164.9deg	[env.py: 1019]
-05/10 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:51:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=268.9ms, total=269.0ms	[env.py: 1075]
-05/10 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.068, 0.909, 0.012)	[env.py: 1079]
-05/10 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.7 deg	[env.py: 1082]
-05/10 02:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.764m	[env.py: 1086]
-05/10 02:51:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:51:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:51:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:51:18 INFO: [Worker 0] Worker 0 house 1 episode 3/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:51:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.149s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:51:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:51:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:51:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:51:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.783s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:51:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.342[m] 94.671[deg]	[grasp_sample.py: 539]
-05/10 02:51:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:51:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:51:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:51:24 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 02:51:53 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 02:51:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 02:51:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 02:51:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:52:05 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 02:52:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 02:52:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 02:52:08 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.36s (batch: 4.53s, save: 10.84s)	[pipeline.py: 300]
-05/10 02:52:09 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.98s:
-  episode_total: mean=204.27s, total=408.55s, count=2, min=181848.0ms, max=226698.7ms
-  sensor_polling: mean=555.8ms, total=317.34s, count=571, min=455.4ms, max=1231.1ms
-  physics_step: mean=27.7ms, total=15.84s, count=571, min=17.3ms, max=132.7ms
-  save_trajectories: mean=10.84s, total=10.84s, count=1, min=10835.7ms, max=10835.7ms
-  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4529.1ms, max=4529.1ms
-  task_sampling: mean=491.0ms, total=982.0ms, count=2, min=482.7ms, max=499.3ms
-  task_specific_sample: mean=487.2ms, total=974.3ms, count=2, min=478.8ms, max=495.6ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.7ms, max=2.5ms
-  mj_forward_sync: mean=515.4us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=23.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 02:52:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:52:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:52:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:52:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:52:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:52:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:52:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:52:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:52:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:52:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017747m	[env.py: 870]
-05/10 02:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:52:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09623097  1.00624297  0.01774744] yaw=-129.9deg	[env.py: 1019]
-05/10 02:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81967163  0.01460458  0.01774744] yaw=162.7deg	[env.py: 1019]
-05/10 02:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10703237  1.08954572  0.01774744] yaw=-142.4deg	[env.py: 1019]
-05/10 02:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 02:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:52:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=235.9ms, total=235.9ms	[env.py: 1075]
-05/10 02:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.096, 1.006, 0.018)	[env.py: 1079]
-05/10 02:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.9 deg	[env.py: 1082]
-05/10 02:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
-05/10 02:52:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:52:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:52:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:52:11 INFO: [Worker 0] Worker 0 house 1 episode 3/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:52:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:52:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:52:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:52:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:52:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.225s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:52:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.355[m] 78.358[deg]	[grasp_sample.py: 539]
-05/10 02:52:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:52:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:52:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:52:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:52:28 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 02:52:32 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 02:52:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 02:52:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 02:52:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 02:52:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 02:52:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.88s (batch: 4.67s, save: 12.21s)	[pipeline.py: 300]
-05/10 02:52:50 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.53s:
-  episode_total: mean=227.69s, total=227.69s, count=1, min=227692.9ms, max=227692.9ms
-  sensor_polling: mean=561.9ms, total=168.57s, count=300, min=465.1ms, max=989.8ms
-  save_trajectories: mean=12.21s, total=12.21s, count=1, min=12208.5ms, max=12208.5ms
-  physics_step: mean=29.3ms, total=8.79s, count=300, min=19.3ms, max=109.8ms
-  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4673.5ms, max=4673.5ms
-  task_sampling: mean=528.9ms, total=528.9ms, count=1, min=528.9ms, max=528.9ms
-  task_specific_sample: mean=523.6ms, total=523.6ms, count=1, min=523.6ms, max=523.6ms
-  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  mj_forward_sync: mean=690.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=26.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 02:52:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:52:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:52:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:52:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:52:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:52:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:52:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:52:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:52:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:52:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:52:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016455m	[env.py: 870]
-05/10 02:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:52:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09632537  1.23485447  0.01645487] yaw=-137.5deg	[env.py: 1019]
-05/10 02:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.928726    1.11603487  0.01645487] yaw=-129.8deg	[env.py: 1019]
-05/10 02:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.6820428   0.53125276  0.01645487] yaw=-181.9deg	[env.py: 1019]
-05/10 02:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 02:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:52:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.4ms, total=192.4ms	[env.py: 1075]
-05/10 02:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.096, 1.235, 0.016)	[env.py: 1079]
-05/10 02:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.5 deg	[env.py: 1082]
-05/10 02:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
-05/10 02:52:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:52:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:52:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:52:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:52:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:52:53 INFO: [Worker 0] Worker 0 house 1 episode 3/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:52:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:52:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:52:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:52:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:52:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:52:54 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 02:52:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 02:52:54 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
-05/10 02:52:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.040s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:52:57 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.590[m] 95.181[deg]	[grasp_sample.py: 539]
-05/10 02:52:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:52:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:52:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:53:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:53:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 02:53:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 02:53:08 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.01s (batch: 4.65s, save: 9.37s)	[pipeline.py: 300]
-05/10 02:53:09 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.60s:
-  episode_total: mean=214.19s, total=214.19s, count=1, min=214188.8ms, max=214188.8ms
-  sensor_polling: mean=571.2ms, total=159.93s, count=280, min=480.6ms, max=1108.0ms
-  save_trajectories: mean=9.37s, total=9.37s, count=1, min=9366.4ms, max=9366.4ms
-  physics_step: mean=27.1ms, total=7.60s, count=280, min=16.1ms, max=77.6ms
-  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4647.4ms, max=4647.4ms
-  task_sampling: mean=604.9ms, total=604.9ms, count=1, min=604.9ms, max=604.9ms
-  task_specific_sample: mean=600.9ms, total=600.9ms, count=1, min=600.9ms, max=600.9ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=449.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 02:53:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:53:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:53:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:53:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:53:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:53:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:53:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:53:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:53:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:53:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:53:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:53:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048509m	[env.py: 870]
-05/10 02:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:53:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95570373  1.04820785 -0.04850858] yaw=-139.7deg	[env.py: 1019]
-05/10 02:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93671077  0.86734189 -0.04850858] yaw=-161.7deg	[env.py: 1019]
-05/10 02:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72638758  0.17218755 -0.04850858] yaw=167.6deg	[env.py: 1019]
-05/10 02:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 02:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:53:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=463.1ms, total=463.2ms	[env.py: 1075]
-05/10 02:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.956, 1.048, -0.049)	[env.py: 1079]
-05/10 02:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.7 deg	[env.py: 1082]
-05/10 02:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
-05/10 02:53:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:53:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:53:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:53:12 INFO: [Worker 0] Worker 0 house 1 episode 3/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:53:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:53:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:53:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:53:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:53:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.860s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:53:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.509[m] 86.781[deg]	[grasp_sample.py: 539]
-05/10 02:53:16 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 02:53:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:53:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:53:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:53:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:53:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:53:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:53:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:53:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:53:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043554m	[env.py: 870]
-05/10 02:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:53:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96575229  1.20075235  0.04355435] yaw=-128.1deg	[env.py: 1019]
-05/10 02:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:53:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=402.2ms, total=402.2ms	[env.py: 1075]
-05/10 02:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.966, 1.201, 0.044)	[env.py: 1079]
-05/10 02:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.1 deg	[env.py: 1082]
-05/10 02:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
-05/10 02:53:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:53:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:53:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:53:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:53:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:53:19 INFO: [Worker 0] Worker 0 house 1 episode 4/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:53:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:53:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:53:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:53:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:53:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.796s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:53:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.579[m] 88.447[deg]	[grasp_sample.py: 539]
-05/10 02:53:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:53:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:53:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:54:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:54:11 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 02:54:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:54:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:54:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:54:31 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 02:54:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 02:54:31 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
-05/10 02:54:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:54:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:54:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 02:54:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 02:54:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.41s (batch: 4.18s, save: 10.23s)	[pipeline.py: 300]
-05/10 02:54:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:54:46 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.59s:
-  episode_total: mean=209.25s, total=209.25s, count=1, min=209249.2ms, max=209249.2ms
-  sensor_polling: mean=551.2ms, total=160.39s, count=291, min=450.3ms, max=1211.3ms
-  save_trajectories: mean=10.23s, total=10.23s, count=1, min=10231.3ms, max=10231.3ms
-  physics_step: mean=27.7ms, total=8.06s, count=291, min=19.2ms, max=119.3ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4178.4ms, max=4178.4ms
-  task_sampling: mean=591.5ms, total=591.5ms, count=1, min=591.5ms, max=591.5ms
-  task_specific_sample: mean=586.7ms, total=586.7ms, count=1, min=586.7ms, max=586.7ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=575.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=27.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 02:54:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:54:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:54:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:54:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:54:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:54:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:54:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:54:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:54:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:54:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:54:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036629m	[env.py: 870]
-05/10 02:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:54:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76862458  0.49845701  0.03662935] yaw=-181.5deg	[env.py: 1019]
-05/10 02:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99207509  0.90210515  0.03662935] yaw=-148.1deg	[env.py: 1019]
-05/10 02:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7681374   0.26111532  0.03662935] yaw=168.7deg	[env.py: 1019]
-05/10 02:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 02:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:54:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.5ms, total=113.6ms	[env.py: 1075]
-05/10 02:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.498, 0.037)	[env.py: 1079]
-05/10 02:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.5 deg	[env.py: 1082]
-05/10 02:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
-05/10 02:54:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:54:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:54:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:54:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:54:49 INFO: [Worker 0] Worker 0 house 1 episode 4/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:54:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:54:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:54:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:54:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:54:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:54:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.527[m] 101.459[deg]	[grasp_sample.py: 539]
-05/10 02:54:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:54:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:54:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:54:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:54:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:54:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:54:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:54:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:54:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:54:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:54:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:54:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:54:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 02:54:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 02:54:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:54:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:54:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:54:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:54:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 02:54:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 02:54:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:54:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:55:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:55:01 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.682s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:55:01 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.264[deg]	[grasp_sample.py: 539]
-05/10 02:55:01 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.695s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:55:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.104[m] 1.324[deg]	[grasp_sample.py: 539]
-05/10 02:55:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:55:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:55:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:55:02 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 02:55:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:55:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:55:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:55:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:55:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:55:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:55:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:55:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:55:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003358m	[env.py: 870]
-05/10 02:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:55:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7197615   0.14550128  0.00335791] yaw=158.4deg	[env.py: 1019]
-05/10 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96483358  1.08888347  0.00335791] yaw=-138.2deg	[env.py: 1019]
-05/10 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:55:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67760509  0.1606287   0.00335791] yaw=159.3deg	[env.py: 1019]
-05/10 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:55:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=566.6ms, total=566.7ms	[env.py: 1075]
-05/10 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.720, 0.146, 0.003)	[env.py: 1079]
-05/10 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.4 deg	[env.py: 1082]
-05/10 02:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m	[env.py: 1086]
-05/10 02:55:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:55:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:55:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:55:05 INFO: [Worker 0] Worker 0 house 1 episode 4/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:55:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:55:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:55:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:55:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:55:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.538s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:55:09 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.623[m] 96.638[deg]	[grasp_sample.py: 539]
-05/10 02:55:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:55:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:55:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:55:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 02:55:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 02:55:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:55:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:55:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 70 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:55:21 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.859s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:55:21 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.201[m] 1.174[deg]	[grasp_sample.py: 539]
-05/10 02:55:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:55:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:55:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:55:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 02:55:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 02:55:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:55:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:55:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 70 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:55:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:39 INFO: [Worker 0] Feasibility-checked 70 grasps in 4.376s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:55:39 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.201[m] 1.173[deg]	[grasp_sample.py: 539]
-05/10 02:55:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:55:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:55:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:55:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 02:55:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 02:55:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:55:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:55:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:55:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:49 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.726s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:55:49 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.101[m] 1.211[deg]	[grasp_sample.py: 539]
-05/10 02:55:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:55:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:55:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:55:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:55:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:55:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 02:55:54 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 02:55:55 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 02:55:55 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=0.61s:
-  episode_total: mean=182.58s, total=182.58s, count=1, min=182584.3ms, max=182584.3ms
-  sensor_polling: mean=516.1ms, total=119.73s, count=232, min=466.8ms, max=1151.4ms
-  physics_step: mean=23.4ms, total=5.43s, count=232, min=14.6ms, max=83.2ms
-  task_sampling: mean=606.5ms, total=606.5ms, count=1, min=606.5ms, max=606.5ms
-  task_specific_sample: mean=601.2ms, total=601.2ms, count=1, min=601.2ms, max=601.2ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=739.2us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 02:55:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:55:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:55:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:55:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:55:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:55:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:55:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:55:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:55:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042336m	[env.py: 870]
-05/10 02:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:55:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72187257  0.35305455 -0.04233624] yaw=183.1deg	[env.py: 1019]
-05/10 02:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71206539  0.19125644 -0.04233624] yaw=154.9deg	[env.py: 1019]
-05/10 02:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75180195 -0.01496459 -0.04233624] yaw=160.2deg	[env.py: 1019]
-05/10 02:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 02:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:55:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=236.2ms, total=236.3ms	[env.py: 1075]
-05/10 02:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.722, 0.353, -0.042)	[env.py: 1079]
-05/10 02:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.1 deg	[env.py: 1082]
-05/10 02:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m	[env.py: 1086]
-05/10 02:55:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:55:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:55:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:55:57 INFO: [Worker 0] Worker 0 house 1 episode 4/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:55:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:55:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:55:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:55:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:55:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.681s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:55:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.565[m] 84.754[deg]	[grasp_sample.py: 539]
-05/10 02:55:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:55:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:55:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:56:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:56:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:56:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:56:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:56:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:56:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:56:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:56:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:56:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 02:56:25 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 02:56:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:56:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:56:49 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 02:56:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 02:56:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 02:57:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:57:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 02:57:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 02:57:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.54s (batch: 4.43s, save: 9.11s)	[pipeline.py: 300]
-05/10 02:57:04 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.47s:
-  episode_total: mean=115.35s, total=230.69s, count=2, min=5291.8ms, max=225398.5ms
-  sensor_polling: mean=516.2ms, total=154.85s, count=300, min=455.3ms, max=777.3ms
-  save_trajectories: mean=9.11s, total=9.11s, count=1, min=9107.6ms, max=9107.6ms
-  physics_step: mean=24.4ms, total=7.31s, count=300, min=17.5ms, max=75.2ms
-  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4429.8ms, max=4429.8ms
-  task_sampling: mean=733.3ms, total=1.47s, count=2, min=688.1ms, max=778.6ms
-  task_specific_sample: mean=728.8ms, total=1.46s, count=2, min=684.1ms, max=773.5ms
-  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=1.6ms, max=3.4ms
-  mj_forward_sync: mean=590.8us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 02:57:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:57:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:57:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:57:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:57:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:57:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:57:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:57:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:57:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040091m	[env.py: 870]
-05/10 02:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:57:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93058136  0.91147762 -0.04009082] yaw=-159.0deg	[env.py: 1019]
-05/10 02:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72219243  0.69738412 -0.04009082] yaw=-174.4deg	[env.py: 1019]
-05/10 02:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.800852    0.35516942 -0.04009082] yaw=182.6deg	[env.py: 1019]
-05/10 02:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 02:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:57:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.4ms, total=104.4ms	[env.py: 1075]
-05/10 02:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.911, -0.040)	[env.py: 1079]
-05/10 02:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.0 deg	[env.py: 1082]
-05/10 02:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
-05/10 02:57:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:57:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:57:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:57:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:57:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:57:06 INFO: [Worker 0] Worker 0 house 1 episode 5/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:57:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:57:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:57:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:57:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:57:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.530s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:57:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.418[m] 80.509[deg]	[grasp_sample.py: 539]
-05/10 02:57:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:57:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:57:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:57:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:57:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:57:42 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 02:57:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:58:02 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 02:58:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:58:09 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 02:58:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 02:58:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 02:58:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:58:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 02:58:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 02:58:26 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.91s (batch: 4.27s, save: 12.65s)	[pipeline.py: 300]
-05/10 02:58:27 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.67s:
-  episode_total: mean=218.81s, total=218.81s, count=1, min=218813.8ms, max=218813.8ms
-  sensor_polling: mean=532.4ms, total=159.72s, count=300, min=457.6ms, max=961.9ms
-  save_trajectories: mean=12.65s, total=12.65s, count=1, min=12645.5ms, max=12645.5ms
-  physics_step: mean=27.7ms, total=8.30s, count=300, min=17.6ms, max=56.2ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4265.5ms, max=4265.5ms
-  task_sampling: mean=671.8ms, total=671.8ms, count=1, min=671.8ms, max=671.8ms
-  task_specific_sample: mean=667.6ms, total=667.6ms, count=1, min=667.6ms, max=667.6ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=463.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=25.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 02:58:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:58:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:58:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:58:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:58:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:58:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:58:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:58:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:58:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001360m	[env.py: 870]
-05/10 02:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:58:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92932948  0.38206763  0.00136021] yaw=183.3deg	[env.py: 1019]
-05/10 02:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95529675  0.09701359  0.00136021] yaw=152.2deg	[env.py: 1019]
-05/10 02:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63438797  0.27545792  0.00136021] yaw=176.1deg	[env.py: 1019]
-05/10 02:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 02:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:58:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=309.3ms, total=309.4ms	[env.py: 1075]
-05/10 02:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.382, 0.001)	[env.py: 1079]
-05/10 02:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.3 deg	[env.py: 1082]
-05/10 02:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.779m	[env.py: 1086]
-05/10 02:58:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:58:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:58:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:58:30 INFO: [Worker 0] Worker 0 house 1 episode 5/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:58:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.154s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:58:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:58:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:58:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:58:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.671s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:58:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.339[m] 87.245[deg]	[grasp_sample.py: 539]
-05/10 02:58:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:58:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:58:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:58:32 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 02:58:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 02:58:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 02:58:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 02:58:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 02:58:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.60s (batch: 5.08s, save: 9.51s)	[pipeline.py: 300]
-05/10 02:58:48 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.41s:
-  episode_total: mean=197.60s, total=395.19s, count=2, min=171795.0ms, max=223398.7ms
-  sensor_polling: mean=529.7ms, total=306.67s, count=579, min=449.1ms, max=1011.1ms
-  physics_step: mean=27.5ms, total=15.89s, count=579, min=18.5ms, max=118.6ms
-  save_trajectories: mean=9.51s, total=9.51s, count=1, min=9513.1ms, max=9513.1ms
-  save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5083.3ms, max=5083.3ms
-  task_sampling: mean=703.4ms, total=1.41s, count=2, min=531.4ms, max=875.5ms
-  task_specific_sample: mean=699.3ms, total=1.40s, count=2, min=526.5ms, max=872.0ms
-  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.5ms, max=3.3ms
-  mj_forward_sync: mean=550.8us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=23.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 02:58:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:58:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:58:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:58:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:58:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:58:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:58:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:58:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:58:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:58:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:58:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.030m, effective arm-mount z=0.830m (base_body_z=-0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030371m	[env.py: 870]
-05/10 02:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:58:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.60768714  0.39163172 -0.03037055] yaw=171.4deg	[env.py: 1019]
-05/10 02:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.20575527  1.09768226 -0.03037055] yaw=-128.9deg	[env.py: 1019]
-05/10 02:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 02:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92180864  0.75616558 -0.03037055] yaw=-153.8deg	[env.py: 1019]
-05/10 02:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 02:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:58:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=125.7ms, total=125.8ms	[env.py: 1075]
-05/10 02:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.608, 0.392, -0.030)	[env.py: 1079]
-05/10 02:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.4 deg	[env.py: 1082]
-05/10 02:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
-05/10 02:58:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:58:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:58:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:58:50 INFO: [Worker 0] Worker 0 house 1 episode 5/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:58:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:58:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:58:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:58:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:58:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.794s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:58:52 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.664[m] 95.651[deg]	[grasp_sample.py: 539]
-05/10 02:58:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:58:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:58:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:58:56 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 02:59:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:59:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 02:59:25 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 02:59:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 02:59:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 02:59:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 02:59:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 02:59:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 02:59:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.74s (batch: 4.70s, save: 10.04s)	[pipeline.py: 300]
-05/10 02:59:40 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.53s:
-  episode_total: mean=223.69s, total=223.69s, count=1, min=223690.0ms, max=223690.0ms
-  sensor_polling: mean=551.1ms, total=165.32s, count=300, min=467.3ms, max=1014.2ms
-  save_trajectories: mean=10.04s, total=10.04s, count=1, min=10040.3ms, max=10040.3ms
-  physics_step: mean=28.2ms, total=8.46s, count=300, min=17.1ms, max=105.5ms
-  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4701.1ms, max=4701.1ms
-  task_sampling: mean=533.6ms, total=533.6ms, count=1, min=533.6ms, max=533.6ms
-  task_specific_sample: mean=529.9ms, total=529.9ms, count=1, min=529.9ms, max=529.9ms
-  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
-  mj_forward_sync: mean=499.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 02:59:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 02:59:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 02:59:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 02:59:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:59:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:59:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 02:59:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 02:59:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 02:59:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 02:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 02:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 02:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038278m	[env.py: 870]
-05/10 02:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 02:59:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 02:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 02:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 02:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15836103  1.04868806  0.03827838] yaw=-138.0deg	[env.py: 1019]
-05/10 02:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 02:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 02:59:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=374.1ms, total=374.1ms	[env.py: 1075]
-05/10 02:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.158, 1.049, 0.038)	[env.py: 1079]
-05/10 02:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.0 deg	[env.py: 1082]
-05/10 02:59:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
-05/10 02:59:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 02:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 02:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 02:59:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 02:59:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 02:59:43 INFO: [Worker 0] Worker 0 house 1 episode 5/240 collected=0/40	[pipeline.py: 1044]
-05/10 02:59:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.147s	[base_object_manipulation_planner_policy.py: 377]
-05/10 02:59:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 02:59:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 02:59:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.135s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 02:59:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.322s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 02:59:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.364[m] 85.910[deg]	[grasp_sample.py: 539]
-05/10 02:59:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 02:59:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 02:59:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:00:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:00:12 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:00:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:00:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:00:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:00:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:00:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:00:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:00:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:00:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:00:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:00:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:00:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:00:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:00:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:00:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:00:25 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.947s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:00:25 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.435[deg]	[grasp_sample.py: 539]
-05/10 03:00:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:00:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:00:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:00:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:00:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:00:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:00:36 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:00:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 03:00:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:00:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:00:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:00:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:00:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:00:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:00:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.00s (batch: 4.54s, save: 10.46s)	[pipeline.py: 300]
-05/10 03:00:52 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.41s:
-  episode_total: mean=226.50s, total=226.50s, count=1, min=226503.2ms, max=226503.2ms
-  sensor_polling: mean=573.8ms, total=172.14s, count=300, min=471.3ms, max=1088.4ms
-  save_trajectories: mean=10.46s, total=10.46s, count=1, min=10457.5ms, max=10457.5ms
-  physics_step: mean=29.2ms, total=8.75s, count=300, min=15.9ms, max=129.6ms
-  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4541.6ms, max=4541.6ms
-  task_sampling: mean=408.6ms, total=408.6ms, count=1, min=408.6ms, max=408.6ms
-  task_specific_sample: mean=404.7ms, total=404.7ms, count=1, min=404.7ms, max=404.7ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=462.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:00:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:00:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:00:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:00:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:00:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:00:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:00:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:00:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:00:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:00:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:00:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.010m, effective arm-mount z=0.850m (base_body_z=-0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010460m	[env.py: 870]
-05/10 03:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:00:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9533933   0.12451562 -0.01046039] yaw=146.6deg	[env.py: 1019]
-05/10 03:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88379031  1.07329954 -0.01046039] yaw=-133.2deg	[env.py: 1019]
-05/10 03:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92475623  0.78899769 -0.01046039] yaw=-159.6deg	[env.py: 1019]
-05/10 03:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:00:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=233.4ms, total=233.4ms	[env.py: 1075]
-05/10 03:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.125, -0.010)	[env.py: 1079]
-05/10 03:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.6 deg	[env.py: 1082]
-05/10 03:00:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
-05/10 03:00:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:00:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:00:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:00:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:00:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:00:54 INFO: [Worker 0] Worker 0 house 1 episode 6/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:00:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.187s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:00:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:00:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:00:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:00:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:00:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.252s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:00:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.425[m] 98.475[deg]	[grasp_sample.py: 539]
-05/10 03:00:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:00:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:00:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:01:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:01:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:01:57 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:01:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:02:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:02:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:02:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:02:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:02:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:02:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:02:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:02:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:02:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:02:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:02:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:02:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:02:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:02:15 INFO: [Worker 0] Feasibility-checked 80 grasps in 5.115s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:02:15 INFO: [Worker 0] Feasible grasp found 147 (originally 32): w/ 0.113[m] 2.050[deg]	[grasp_sample.py: 539]
-05/10 03:02:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:02:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:02:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:02:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:02:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:02:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:02:22 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:02:23 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:02:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 03:02:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:02:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:02:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:02:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:02:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:02:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:02:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:02:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:02:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:02:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:02:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:02:36 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.749s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:02:36 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.299[deg]	[grasp_sample.py: 539]
-05/10 03:02:37 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:02:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:02:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:02:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:02:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:02:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:02:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:02:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:02:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:02:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.016049m	[env.py: 870]
-05/10 03:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:02:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83313632  0.12620169 -0.01604894] yaw=158.3deg	[env.py: 1019]
-05/10 03:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82053263  0.64568072 -0.01604894] yaw=-166.0deg	[env.py: 1019]
-05/10 03:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99775691  1.25666095 -0.01604894] yaw=-125.6deg	[env.py: 1019]
-05/10 03:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:02:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:02:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=131.4ms, total=131.4ms	[env.py: 1075]
-05/10 03:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.126, -0.016)	[env.py: 1079]
-05/10 03:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.3 deg	[env.py: 1082]
-05/10 03:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
-05/10 03:02:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:02:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.55s (batch: 5.31s, save: 11.24s)	[pipeline.py: 300]
-05/10 03:02:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:02:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:02:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:02:40 INFO: [Worker 0] Worker 0 house 1 episode 6/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:02:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:02:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:02:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:02:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:02:40 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.42s:
-  episode_total: mean=230.62s, total=230.62s, count=1, min=230623.4ms, max=230623.4ms
-  sensor_polling: mean=568.3ms, total=170.48s, count=300, min=473.6ms, max=1253.8ms
-  save_trajectories: mean=11.24s, total=11.24s, count=1, min=11241.3ms, max=11241.3ms
-  physics_step: mean=31.8ms, total=9.54s, count=300, min=20.0ms, max=149.6ms
-  save_batch_prep: mean=5.31s, total=5.31s, count=1, min=5311.4ms, max=5311.4ms
-  task_sampling: mean=421.6ms, total=421.6ms, count=1, min=421.6ms, max=421.6ms
-  task_specific_sample: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=674.2us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=24.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:02:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.592s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:02:40 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.495[m] 89.983[deg]	[grasp_sample.py: 539]
-05/10 03:02:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:02:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:02:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:02:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:02:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:02:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:02:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:02:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:02:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:02:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:02:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:02:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019085m	[env.py: 870]
-05/10 03:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:02:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75588792  0.08101329  0.01908502] yaw=146.2deg	[env.py: 1019]
-05/10 03:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70007224  0.10385106  0.01908502] yaw=169.8deg	[env.py: 1019]
-05/10 03:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73035846  0.86622227  0.01908502] yaw=-162.0deg	[env.py: 1019]
-05/10 03:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:02:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.8ms, total=95.8ms	[env.py: 1075]
-05/10 03:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.756, 0.081, 0.019)	[env.py: 1079]
-05/10 03:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.2 deg	[env.py: 1082]
-05/10 03:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
-05/10 03:02:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:02:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:02:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:02:42 INFO: [Worker 0] Worker 0 house 1 episode 6/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:02:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:02:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:02:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:02:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:02:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.103s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:02:46 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.604[m] 89.722[deg]	[grasp_sample.py: 539]
-05/10 03:02:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:02:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:02:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:02:49 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:02:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 03:02:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:03:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:03:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:03:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.14s (batch: 4.48s, save: 11.66s)	[pipeline.py: 300]
-05/10 03:03:06 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.64s:
-  episode_total: mean=276.97s, total=276.97s, count=1, min=276971.5ms, max=276971.5ms
-  sensor_polling: mean=569.9ms, total=170.98s, count=300, min=476.2ms, max=1028.4ms
-  save_trajectories: mean=11.66s, total=11.66s, count=1, min=11655.1ms, max=11655.1ms
-  physics_step: mean=29.0ms, total=8.69s, count=300, min=19.7ms, max=134.6ms
-  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4479.9ms, max=4479.9ms
-  task_sampling: mean=640.5ms, total=640.5ms, count=1, min=640.5ms, max=640.5ms
-  task_specific_sample: mean=635.9ms, total=635.9ms, count=1, min=635.9ms, max=635.9ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=556.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=27.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:03:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:03:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:03:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:03:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:03:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:03:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:03:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:03:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:03:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:03:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033922m	[env.py: 870]
-05/10 03:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:03:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14648663  0.94067602 -0.03392196] yaw=-138.7deg	[env.py: 1019]
-05/10 03:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91377887  0.14265574 -0.03392196] yaw=147.3deg	[env.py: 1019]
-05/10 03:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:03:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.5ms, total=186.6ms	[env.py: 1075]
-05/10 03:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.146, 0.941, -0.034)	[env.py: 1079]
-05/10 03:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.7 deg	[env.py: 1082]
-05/10 03:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.721m	[env.py: 1086]
-05/10 03:03:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:03:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:03:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:03:08 INFO: [Worker 0] Worker 0 house 1 episode 6/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:03:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:03:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:03:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:03:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:03:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.538s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:03:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.340[m] 94.626[deg]	[grasp_sample.py: 539]
-05/10 03:03:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:03:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:03:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:03:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:03:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:03:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:03:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:03:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:03:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:03:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:03:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:03:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:03:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:03:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:03:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:03:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:03:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:03:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:03:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:03:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:03:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:03:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:03:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:03:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:03:59 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.493s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:03:59 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.296[deg]	[grasp_sample.py: 539]
-05/10 03:03:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:04:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:04:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:04:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:04:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:04:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:04:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:04:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:04:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:04:34 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:05:05 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:05:05 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 03:05:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:05:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:05:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:05:21 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.88s (batch: 4.55s, save: 11.33s)	[pipeline.py: 300]
-05/10 03:05:22 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.59s:
-  episode_total: mean=267.98s, total=267.98s, count=1, min=267979.3ms, max=267979.3ms
-  sensor_polling: mean=569.3ms, total=170.80s, count=300, min=480.5ms, max=1220.7ms
-  save_trajectories: mean=11.33s, total=11.33s, count=1, min=11329.3ms, max=11329.3ms
-  physics_step: mean=30.2ms, total=9.06s, count=300, min=19.7ms, max=131.6ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4547.1ms, max=4547.1ms
-  task_sampling: mean=585.6ms, total=585.6ms, count=1, min=585.6ms, max=585.6ms
-  task_specific_sample: mean=580.8ms, total=580.8ms, count=1, min=580.8ms, max=580.8ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=647.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=29.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:05:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:05:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:05:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:05:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:05:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:05:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:05:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:05:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:05:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:05:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:05:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048637m	[env.py: 870]
-05/10 03:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:05:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70123295  0.38399352  0.04863746] yaw=181.3deg	[env.py: 1019]
-05/10 03:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:05:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.0ms, total=200.1ms	[env.py: 1075]
-05/10 03:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.701, 0.384, 0.049)	[env.py: 1079]
-05/10 03:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.3 deg	[env.py: 1082]
-05/10 03:05:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
-05/10 03:05:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:05:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:05:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:05:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:05:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:05:24 INFO: [Worker 0] Worker 0 house 1 episode 7/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:05:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:05:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:05:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:05:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:05:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.741s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:05:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.582[m] 89.123[deg]	[grasp_sample.py: 539]
-05/10 03:05:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:05:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:05:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:05:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:05:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:05:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:05:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:05:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:05:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:05:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:05:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:05:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:05:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:05:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:05:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:05:49 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.011s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:05:49 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.120[deg]	[grasp_sample.py: 539]
-05/10 03:05:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:05:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:05:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:05:52 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:05:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:05:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:05:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:05:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:06:00 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:06:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:06:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:06:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:06:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:06:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:06:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:06:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:06:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:06:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:06:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:06:10 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.741s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:06:10 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.291[deg]	[grasp_sample.py: 539]
-05/10 03:06:11 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:06:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:06:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:06:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:06:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:06:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:06:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:06:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:06:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:06:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020637m	[env.py: 870]
-05/10 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:06:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92453435  0.15953151 -0.02063738] yaw=154.9deg	[env.py: 1019]
-05/10 03:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90475133  0.94227017 -0.02063738] yaw=-142.2deg	[env.py: 1019]
-05/10 03:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:06:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=524.6ms, total=524.7ms	[env.py: 1075]
-05/10 03:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.160, -0.021)	[env.py: 1079]
-05/10 03:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.9 deg	[env.py: 1082]
-05/10 03:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
-05/10 03:06:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:06:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:06:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:06:14 INFO: [Worker 0] Worker 0 house 1 episode 7/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:06:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:06:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:06:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:06:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:06:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.264s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:06:15 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.379[m] 81.188[deg]	[grasp_sample.py: 539]
-05/10 03:06:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:06:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:06:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:06:18 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:06:18 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 03:06:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:06:30 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:06:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 03:06:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:06:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:06:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:06:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.23s (batch: 5.49s, save: 11.74s)	[pipeline.py: 300]
-05/10 03:06:36 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.43s:
-  episode_total: mean=234.03s, total=234.03s, count=1, min=234030.0ms, max=234030.0ms
-  sensor_polling: mean=557.1ms, total=167.13s, count=300, min=469.3ms, max=947.8ms
-  save_trajectories: mean=11.74s, total=11.74s, count=1, min=11736.6ms, max=11736.6ms
-  physics_step: mean=27.4ms, total=8.21s, count=300, min=19.9ms, max=119.4ms
-  save_batch_prep: mean=5.49s, total=5.49s, count=1, min=5493.2ms, max=5493.2ms
-  task_sampling: mean=434.6ms, total=434.6ms, count=1, min=434.6ms, max=434.6ms
-  task_specific_sample: mean=430.8ms, total=430.8ms, count=1, min=430.8ms, max=430.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=441.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:06:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:06:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:06:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:06:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:06:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:06:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:06:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:06:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:06:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011213m	[env.py: 870]
-05/10 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:06:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73885525  0.28989365  0.01121269] yaw=167.5deg	[env.py: 1019]
-05/10 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73759066  0.7141411   0.01121269] yaw=-164.0deg	[env.py: 1019]
-05/10 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:06:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=196.1ms, total=196.2ms	[env.py: 1075]
-05/10 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.290, 0.011)	[env.py: 1079]
-05/10 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.5 deg	[env.py: 1082]
-05/10 03:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
-05/10 03:06:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:06:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:06:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:06:38 INFO: [Worker 0] Worker 0 house 1 episode 7/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:06:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:06:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:06:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:06:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:06:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:06:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.719s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:06:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.550[m] 94.478[deg]	[grasp_sample.py: 539]
-05/10 03:06:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:06:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:06:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:06:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:06:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:06:45 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.16s (batch: 5.53s, save: 9.63s)	[pipeline.py: 300]
-05/10 03:06:46 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.14s:
-  episode_total: mean=211.16s, total=422.31s, count=2, min=175568.6ms, max=246742.6ms
-  sensor_polling: mean=560.7ms, total=312.32s, count=557, min=459.4ms, max=1059.8ms
-  physics_step: mean=27.9ms, total=15.54s, count=557, min=15.8ms, max=144.3ms
-  save_trajectories: mean=9.63s, total=9.63s, count=1, min=9628.5ms, max=9628.5ms
-  save_batch_prep: mean=5.53s, total=5.53s, count=1, min=5529.2ms, max=5529.2ms
-  task_sampling: mean=571.1ms, total=1.14s, count=2, min=448.5ms, max=693.6ms
-  task_specific_sample: mean=567.0ms, total=1.13s, count=2, min=444.8ms, max=689.3ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.7ms, max=2.9ms
-  mj_forward_sync: mean=581.9us, total=1.2ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=23.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:06:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:06:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:06:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:06:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:06:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:06:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:06:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:06:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:06:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:06:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:06:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.000m, effective arm-mount z=0.860m (base_body_z=-0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000258m	[env.py: 870]
-05/10 03:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:06:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-8.56348039e-01  6.39319079e-01 -2.58220575e-04] yaw=-167.9deg	[env.py: 1019]
-05/10 03:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-7.22278911e-01  5.64882411e-01 -2.58220575e-04] yaw=-181.8deg	[env.py: 1019]
-05/10 03:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-9.84456236e-01  3.84277499e-01 -2.58220575e-04] yaw=183.1deg	[env.py: 1019]
-05/10 03:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:06:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.4ms, total=159.4ms	[env.py: 1075]
-05/10 03:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.856, 0.639, -0.000)	[env.py: 1079]
-05/10 03:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.9 deg	[env.py: 1082]
-05/10 03:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
-05/10 03:06:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:06:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:06:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:06:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:06:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:06:48 INFO: [Worker 0] Worker 0 house 1 episode 7/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:06:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:06:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:06:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:06:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:06:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.613s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:06:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.417[m] 85.500[deg]	[grasp_sample.py: 539]
-05/10 03:06:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:06:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:06:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:06:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:06:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:06:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:07:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:07:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:07:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:07:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:07:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:07:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:07:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:08:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:08:26 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:08:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:08:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:08:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:08:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:08:52 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:08:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 03:08:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:08:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:08:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:08:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:08:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:08:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:08:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:08:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:08:54 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.423s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:08:54 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.279[deg]	[grasp_sample.py: 539]
-05/10 03:08:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:08:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:08:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:09:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:09:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:09:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:09:08 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.62s (batch: 4.65s, save: 10.97s)	[pipeline.py: 300]
-05/10 03:09:08 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.54s:
-  episode_total: mean=224.95s, total=224.95s, count=1, min=224953.3ms, max=224953.3ms
-  sensor_polling: mean=559.0ms, total=167.69s, count=300, min=457.3ms, max=1065.5ms
-  save_trajectories: mean=10.97s, total=10.97s, count=1, min=10968.7ms, max=10968.7ms
-  physics_step: mean=26.4ms, total=7.92s, count=300, min=18.8ms, max=60.5ms
-  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4653.5ms, max=4653.5ms
-  task_sampling: mean=542.9ms, total=542.9ms, count=1, min=542.9ms, max=542.9ms
-  task_specific_sample: mean=539.0ms, total=539.0ms, count=1, min=539.0ms, max=539.0ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=444.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:09:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:09:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:09:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:09:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:09:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:09:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:09:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:09:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:09:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009153m	[env.py: 870]
-05/10 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:09:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88351864  0.12222096 -0.00915279] yaw=161.1deg	[env.py: 1019]
-05/10 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94111279  0.54572213 -0.00915279] yaw=-169.7deg	[env.py: 1019]
-05/10 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98094792  0.60765017 -0.00915279] yaw=-161.6deg	[env.py: 1019]
-05/10 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:09:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.5ms, total=145.5ms	[env.py: 1075]
-05/10 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.884, 0.122, -0.009)	[env.py: 1079]
-05/10 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.1 deg	[env.py: 1082]
-05/10 03:09:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
-05/10 03:09:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:09:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:09:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:09:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:09:11 INFO: [Worker 0] Worker 0 house 1 episode 8/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:09:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:09:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:09:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:09:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:09:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:09:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.107s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:09:12 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.487[m] 93.778[deg]	[grasp_sample.py: 539]
-05/10 03:09:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:09:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:09:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:09:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:09:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:09:32 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:09:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:09:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:09:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:09:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:09:40 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:09:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:09:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:09:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:09:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:09:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:09:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:09:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:09:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:09:46 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.755s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:09:46 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.890[deg]	[grasp_sample.py: 539]
-05/10 03:09:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:09:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:09:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:09:50 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:09:56 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:09:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 03:09:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:10:03 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:10:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 03:10:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:10:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:10:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:10:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:10:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.29s (batch: 4.40s, save: 8.89s)	[pipeline.py: 300]
-05/10 03:10:09 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.60s:
-  episode_total: mean=211.68s, total=211.68s, count=1, min=211678.7ms, max=211678.7ms
-  sensor_polling: mean=535.8ms, total=160.74s, count=300, min=467.5ms, max=975.9ms
-  save_trajectories: mean=8.89s, total=8.89s, count=1, min=8894.2ms, max=8894.2ms
-  physics_step: mean=27.9ms, total=8.38s, count=300, min=15.5ms, max=119.4ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4399.9ms, max=4399.9ms
-  task_sampling: mean=602.6ms, total=602.6ms, count=1, min=602.6ms, max=602.6ms
-  task_specific_sample: mean=598.6ms, total=598.6ms, count=1, min=598.6ms, max=598.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=424.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=28.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:10:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:10:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:10:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:10:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:10:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:10:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:10:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:10:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:10:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021417m	[env.py: 870]
-05/10 03:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:10:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90080509  0.78371254 -0.02141662] yaw=-149.6deg	[env.py: 1019]
-05/10 03:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69036359  0.82252076 -0.02141662] yaw=-159.6deg	[env.py: 1019]
-05/10 03:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.71622945  0.90651836 -0.02141662] yaw=-166.1deg	[env.py: 1019]
-05/10 03:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:10:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.1ms, total=176.2ms	[env.py: 1075]
-05/10 03:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.784, -0.021)	[env.py: 1079]
-05/10 03:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.6 deg	[env.py: 1082]
-05/10 03:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
-05/10 03:10:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:10:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:10:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:10:12 INFO: [Worker 0] Worker 0 house 1 episode 8/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:10:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:10:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:10:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:10:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:10:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.633s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:10:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.446[m] 90.638[deg]	[grasp_sample.py: 539]
-05/10 03:10:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:10:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:10:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:10:13 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:10:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 03:10:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:10:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:10:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:10:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:10:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.40s (batch: 4.30s, save: 10.10s)	[pipeline.py: 300]
-05/10 03:10:18 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.67s:
-  episode_total: mean=210.58s, total=210.58s, count=1, min=210578.4ms, max=210578.4ms
-  sensor_polling: mean=529.0ms, total=158.69s, count=300, min=461.6ms, max=750.6ms
-  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10097.6ms, max=10097.6ms
-  physics_step: mean=25.4ms, total=7.63s, count=300, min=19.8ms, max=60.9ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4302.4ms, max=4302.4ms
-  task_sampling: mean=673.8ms, total=673.8ms, count=1, min=673.8ms, max=673.8ms
-  task_specific_sample: mean=670.0ms, total=670.0ms, count=1, min=670.0ms, max=670.0ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=556.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=25.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:10:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:10:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:10:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:10:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:10:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:10:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:10:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:10:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:10:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:10:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:10:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.000m, effective arm-mount z=0.860m (base_body_z=-0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000418m	[env.py: 870]
-05/10 03:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:10:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-6.11810992e-01  4.58483679e-01 -4.17809684e-04] yaw=186.8deg	[env.py: 1019]
-05/10 03:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-6.69364976e-01  5.08873432e-01 -4.17809684e-04] yaw=-189.9deg	[env.py: 1019]
-05/10 03:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05698540e+00  1.17040891e+00 -4.17809684e-04] yaw=-143.9deg	[env.py: 1019]
-05/10 03:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:10:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.8ms, total=161.9ms	[env.py: 1075]
-05/10 03:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.612, 0.458, -0.000)	[env.py: 1079]
-05/10 03:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.8 deg	[env.py: 1082]
-05/10 03:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m	[env.py: 1086]
-05/10 03:10:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:10:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:10:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:10:21 INFO: [Worker 0] Worker 0 house 1 episode 8/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:10:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:10:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:10:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:10:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:10:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:10:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.908s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:10:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.692[m] 100.561[deg]	[grasp_sample.py: 539]
-05/10 03:10:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:10:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:10:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:10:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:10:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:10:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.04s (batch: 4.40s, save: 9.64s)	[pipeline.py: 300]
-05/10 03:10:28 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.31s:
-  episode_total: mean=219.11s, total=438.21s, count=2, min=183413.6ms, max=254800.9ms
-  sensor_polling: mean=547.0ms, total=321.08s, count=587, min=464.6ms, max=940.9ms
-  physics_step: mean=28.0ms, total=16.42s, count=587, min=16.3ms, max=148.2ms
-  save_trajectories: mean=9.64s, total=9.64s, count=1, min=9641.0ms, max=9641.0ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4401.0ms, max=4401.0ms
-  task_sampling: mean=653.6ms, total=1.31s, count=2, min=499.8ms, max=807.5ms
-  task_specific_sample: mean=649.9ms, total=1.30s, count=2, min=495.7ms, max=804.1ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.4ms, max=2.8ms
-  mj_forward_sync: mean=437.4us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:10:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:10:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:10:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:10:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:10:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:10:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:10:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:10:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:10:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048286m	[env.py: 870]
-05/10 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:10:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75369975  0.98809174 -0.04828576] yaw=-158.7deg	[env.py: 1019]
-05/10 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85100444  1.07472764 -0.04828576] yaw=-138.4deg	[env.py: 1019]
-05/10 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06426702  1.13449941 -0.04828576] yaw=-145.1deg	[env.py: 1019]
-05/10 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:10:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.7ms, total=81.7ms	[env.py: 1075]
-05/10 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.754, 0.988, -0.048)	[env.py: 1079]
-05/10 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.7 deg	[env.py: 1082]
-05/10 03:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m	[env.py: 1086]
-05/10 03:10:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:10:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:10:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:10:30 INFO: [Worker 0] Worker 0 house 1 episode 8/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:10:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:10:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:10:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:10:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:10:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.751s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:10:32 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.659[m] 88.239[deg]	[grasp_sample.py: 539]
-05/10 03:10:33 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:10:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:10:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:10:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:10:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:10:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:10:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:10:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:10:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:10:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:10:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:10:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000886m	[env.py: 870]
-05/10 03:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:10:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84286355  0.57181826 -0.00088644] yaw=-185.3deg	[env.py: 1019]
-05/10 03:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-9.61817485e-01  5.32014235e-01 -8.86437746e-04] yaw=-165.5deg	[env.py: 1019]
-05/10 03:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:10:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.4ms, total=210.4ms	[env.py: 1075]
-05/10 03:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.572, -0.001)	[env.py: 1079]
-05/10 03:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.3 deg	[env.py: 1082]
-05/10 03:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
-05/10 03:10:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:10:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:10:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:10:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:10:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:10:35 INFO: [Worker 0] Worker 0 house 1 episode 9/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:10:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:10:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:10:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:10:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:10:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.506s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:10:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.443[m] 87.471[deg]	[grasp_sample.py: 539]
-05/10 03:10:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:10:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:10:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:11:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:11:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:11:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:11:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:11:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:11:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:11:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:11:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:11:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:11:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:11:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:11:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:11:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:11:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:11:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:12:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:12:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:12:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:12:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:12:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:12:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:12:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:12:03 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.430s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:12:03 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.163[deg]	[grasp_sample.py: 539]
-05/10 03:12:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:12:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:12:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:12:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:12:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:12:21 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:12:42 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:12:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 03:12:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:12:47 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 03:12:47 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.46s:
-  episode_total: mean=216.80s, total=216.80s, count=1, min=216803.1ms, max=216803.1ms
-  sensor_polling: mean=533.9ms, total=160.17s, count=300, min=461.8ms, max=1041.1ms
-  physics_step: mean=24.9ms, total=7.47s, count=300, min=16.8ms, max=64.7ms
-  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4686.4ms, max=4686.4ms
-  task_sampling: mean=462.4ms, total=462.4ms, count=1, min=462.4ms, max=462.4ms
-  task_specific_sample: mean=458.4ms, total=458.4ms, count=1, min=458.4ms, max=458.4ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=427.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:12:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:12:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:12:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:12:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:12:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:12:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:12:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:12:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:12:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:12:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:12:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034795m	[env.py: 870]
-05/10 03:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:12:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93403993  0.40801019  0.03479468] yaw=171.4deg	[env.py: 1019]
-05/10 03:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.9480859   0.35259083  0.03479468] yaw=173.3deg	[env.py: 1019]
-05/10 03:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:12:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.2ms, total=203.3ms	[env.py: 1075]
-05/10 03:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.934, 0.408, 0.035)	[env.py: 1079]
-05/10 03:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.4 deg	[env.py: 1082]
-05/10 03:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.772m	[env.py: 1086]
-05/10 03:12:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:12:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:12:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:12:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:12:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:12:49 INFO: [Worker 0] Worker 0 house 1 episode 9/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:12:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:12:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:12:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:12:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:12:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.480s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:12:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.308[m] 86.933[deg]	[grasp_sample.py: 539]
-05/10 03:12:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:12:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:12:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:12:59 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:13:08 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:13:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:13:21 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:13:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 03:13:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:13:26 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 03:13:26 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.50s:
-  episode_total: mean=194.59s, total=194.59s, count=1, min=194594.0ms, max=194594.0ms
-  sensor_polling: mean=519.9ms, total=155.96s, count=300, min=459.3ms, max=1072.1ms
-  physics_step: mean=25.1ms, total=7.54s, count=300, min=18.8ms, max=104.8ms
-  save_batch_prep: mean=4.73s, total=4.73s, count=1, min=4734.4ms, max=4734.4ms
-  task_sampling: mean=502.7ms, total=502.7ms, count=1, min=502.7ms, max=502.7ms
-  task_specific_sample: mean=499.2ms, total=499.2ms, count=1, min=499.2ms, max=499.2ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=420.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:13:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:13:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:13:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:13:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:13:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:13:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:13:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:13:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:13:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:13:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:13:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027521m	[env.py: 870]
-05/10 03:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:13:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76641094  0.33855529 -0.02752051] yaw=170.0deg	[env.py: 1019]
-05/10 03:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87681603  0.53840643 -0.02752051] yaw=-186.9deg	[env.py: 1019]
-05/10 03:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.1278815   0.88770975 -0.02752051] yaw=-137.1deg	[env.py: 1019]
-05/10 03:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:13:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.5ms, total=196.5ms	[env.py: 1075]
-05/10 03:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.766, 0.339, -0.028)	[env.py: 1079]
-05/10 03:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg	[env.py: 1082]
-05/10 03:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
-05/10 03:13:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:13:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:13:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:13:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:13:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:13:28 INFO: [Worker 0] Worker 0 house 1 episode 9/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:13:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:13:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:13:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:13:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:13:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.607s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:13:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.500[m] 91.424[deg]	[grasp_sample.py: 539]
-05/10 03:13:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:13:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:13:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:13:31 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:13:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 03:13:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:13:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:13:33 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:13:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:13:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:13:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:13:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.37s (batch: 4.54s, save: 8.83s)	[pipeline.py: 300]
-05/10 03:13:45 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.47s:
-  episode_total: mean=204.32s, total=204.32s, count=1, min=204319.1ms, max=204319.1ms
-  sensor_polling: mean=518.2ms, total=155.47s, count=300, min=463.8ms, max=999.9ms
-  save_trajectories: mean=8.83s, total=8.83s, count=1, min=8834.8ms, max=8834.8ms
-  physics_step: mean=24.3ms, total=7.28s, count=300, min=17.8ms, max=97.8ms
-  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4536.9ms, max=4536.9ms
-  task_sampling: mean=469.8ms, total=469.8ms, count=1, min=469.8ms, max=469.8ms
-  task_specific_sample: mean=458.9ms, total=458.9ms, count=1, min=458.9ms, max=458.9ms
-  scene_randomize: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
-  mj_forward_sync: mean=599.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:13:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:13:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:13:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:13:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:13:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:13:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:13:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:13:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:13:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047247m	[env.py: 870]
-05/10 03:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:13:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75251538  0.32114164 -0.04724724] yaw=166.4deg	[env.py: 1019]
-05/10 03:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.62389766  0.37361544 -0.04724724] yaw=170.4deg	[env.py: 1019]
-05/10 03:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:13:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=310.4ms, total=310.5ms	[env.py: 1075]
-05/10 03:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.753, 0.321, -0.047)	[env.py: 1079]
-05/10 03:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.4 deg	[env.py: 1082]
-05/10 03:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
-05/10 03:13:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:13:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:13:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:13:47 INFO: [Worker 0] Worker 0 house 1 episode 9/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:13:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:13:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:13:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:13:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:13:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.545s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:13:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.559[m] 97.507[deg]	[grasp_sample.py: 539]
-05/10 03:13:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:13:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:13:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:13:55 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:13:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 03:13:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:14:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:14:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:14:08 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.39s (batch: 4.47s, save: 8.92s)	[pipeline.py: 300]
-05/10 03:14:09 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.85s:
-  episode_total: mean=108.86s, total=217.72s, count=2, min=3381.0ms, max=214337.4ms
-  sensor_polling: mean=543.8ms, total=163.14s, count=300, min=462.5ms, max=935.7ms
-  save_trajectories: mean=8.92s, total=8.92s, count=1, min=8920.4ms, max=8920.4ms
-  physics_step: mean=29.0ms, total=8.70s, count=300, min=16.1ms, max=133.5ms
-  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4471.0ms, max=4471.0ms
-  task_sampling: mean=424.5ms, total=849.0ms, count=2, min=389.3ms, max=459.7ms
-  task_specific_sample: mean=420.9ms, total=841.8ms, count=2, min=385.4ms, max=456.4ms
-  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.4ms, max=2.7ms
-  mj_forward_sync: mean=456.7us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:14:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:14:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:14:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:14:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:14:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:14:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:14:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:14:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:14:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:14:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:14:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:14:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:14:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:14:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038254m	[env.py: 870]
-05/10 03:14:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:14:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:14:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:14:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93973445  0.6063538  -0.03825399] yaw=-172.8deg	[env.py: 1019]
-05/10 03:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00507507  1.15483749 -0.03825399] yaw=-145.9deg	[env.py: 1019]
-05/10 03:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.61138091  0.38953133 -0.03825399] yaw=179.9deg	[env.py: 1019]
-05/10 03:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:14:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=487.2ms, total=487.3ms	[env.py: 1075]
-05/10 03:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.606, -0.038)	[env.py: 1079]
-05/10 03:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.8 deg	[env.py: 1082]
-05/10 03:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.773m	[env.py: 1086]
-05/10 03:14:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:14:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:14:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:14:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:14:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:14:12 INFO: [Worker 0] Worker 0 house 1 episode 10/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:14:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:14:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:14:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:14:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:14:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.695s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:14:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.349[m] 93.335[deg]	[grasp_sample.py: 539]
-05/10 03:14:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:14:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:14:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:14:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:14:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:14:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:14:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:14:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:15:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:15:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:15:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:15:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:15:54 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:16:23 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:16:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 03:16:23 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
-05/10 03:16:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:16:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:16:37 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:16:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:16:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:16:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.69s (batch: 5.11s, save: 10.58s)	[pipeline.py: 300]
-05/10 03:16:40 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.50s:
-  episode_total: mean=231.71s, total=231.71s, count=1, min=231714.0ms, max=231714.0ms
-  sensor_polling: mean=533.0ms, total=150.29s, count=282, min=463.1ms, max=852.8ms
-  save_trajectories: mean=10.58s, total=10.58s, count=1, min=10583.8ms, max=10583.8ms
-  physics_step: mean=27.7ms, total=7.81s, count=282, min=16.6ms, max=84.3ms
-  save_batch_prep: mean=5.11s, total=5.11s, count=1, min=5108.1ms, max=5108.1ms
-  task_sampling: mean=501.7ms, total=501.7ms, count=1, min=501.7ms, max=501.7ms
-  task_specific_sample: mean=497.8ms, total=497.8ms, count=1, min=497.8ms, max=497.8ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=418.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:16:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:16:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:16:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:16:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:16:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:16:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:16:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:16:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:16:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049249m	[env.py: 870]
-05/10 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:16:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90778953  0.77325508  0.0492493 ] yaw=-152.1deg	[env.py: 1019]
-05/10 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97955161  0.42946942  0.0492493 ] yaw=167.9deg	[env.py: 1019]
-05/10 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89471323  0.3039208   0.0492493 ] yaw=170.2deg	[env.py: 1019]
-05/10 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:16:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.6ms, total=206.6ms	[env.py: 1075]
-05/10 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.908, 0.773, 0.049)	[env.py: 1079]
-05/10 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg	[env.py: 1082]
-05/10 03:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
-05/10 03:16:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:16:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:16:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:16:43 INFO: [Worker 0] Worker 0 house 1 episode 10/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:16:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:16:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:16:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:16:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:16:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.620s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:16:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.397[m] 84.952[deg]	[grasp_sample.py: 539]
-05/10 03:16:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:16:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:16:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:16:56 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:17:04 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:17:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 03:17:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:17:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:17:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:17:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.66s (batch: 4.15s, save: 9.52s)	[pipeline.py: 300]
-05/10 03:17:18 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.59s:
-  episode_total: mean=230.57s, total=230.57s, count=1, min=230571.4ms, max=230571.4ms
-  sensor_polling: mean=563.0ms, total=168.89s, count=300, min=468.4ms, max=977.7ms
-  save_trajectories: mean=9.52s, total=9.52s, count=1, min=9517.5ms, max=9517.5ms
-  physics_step: mean=30.9ms, total=9.28s, count=300, min=18.6ms, max=123.8ms
-  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4146.0ms, max=4146.0ms
-  task_sampling: mean=589.3ms, total=589.3ms, count=1, min=589.3ms, max=589.3ms
-  task_specific_sample: mean=585.0ms, total=585.0ms, count=1, min=585.0ms, max=585.0ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=541.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:17:19 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:17:20 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:17:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 03:17:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:17:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:17:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:17:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:17:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:17:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:17:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:17:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:17:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:17:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:17:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:17:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048938m	[env.py: 870]
-05/10 03:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:17:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:17:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76830253  0.27380947 -0.04893786] yaw=168.0deg	[env.py: 1019]
-05/10 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96506934  0.46721015 -0.04893786] yaw=168.7deg	[env.py: 1019]
-05/10 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01904985  0.81057385 -0.04893786] yaw=-160.7deg	[env.py: 1019]
-05/10 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:17:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=161.5ms, total=161.6ms	[env.py: 1075]
-05/10 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.768, 0.274, -0.049)	[env.py: 1079]
-05/10 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.0 deg	[env.py: 1082]
-05/10 03:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
-05/10 03:17:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:17:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:17:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:17:21 INFO: [Worker 0] Worker 0 house 1 episode 10/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:17:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:17:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:17:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:17:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:17:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.559s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:17:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.481[m] 79.789[deg]	[grasp_sample.py: 539]
-05/10 03:17:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:17:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:17:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:17:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:17:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:17:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:17:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.62s (batch: 4.51s, save: 10.12s)	[pipeline.py: 300]
-05/10 03:17:36 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.62s:
-  episode_total: mean=229.22s, total=229.22s, count=1, min=229220.9ms, max=229220.9ms
-  sensor_polling: mean=569.6ms, total=170.89s, count=300, min=463.0ms, max=1026.6ms
-  save_trajectories: mean=10.12s, total=10.12s, count=1, min=10115.4ms, max=10115.4ms
-  physics_step: mean=28.0ms, total=8.39s, count=300, min=16.9ms, max=114.2ms
-  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4506.3ms, max=4506.3ms
-  task_sampling: mean=623.9ms, total=623.9ms, count=1, min=623.9ms, max=623.9ms
-  task_specific_sample: mean=619.7ms, total=619.7ms, count=1, min=619.7ms, max=619.7ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=520.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:17:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:17:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:17:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:17:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:17:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:17:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:17:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006099m	[env.py: 870]
-05/10 03:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:17:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83086518  0.60336676  0.00609945] yaw=-172.6deg	[env.py: 1019]
-05/10 03:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70500297  0.32298397  0.00609945] yaw=163.9deg	[env.py: 1019]
-05/10 03:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86781412  0.5701661   0.00609945] yaw=-177.3deg	[env.py: 1019]
-05/10 03:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:17:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.8ms, total=107.8ms	[env.py: 1075]
-05/10 03:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.831, 0.603, 0.006)	[env.py: 1079]
-05/10 03:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.6 deg	[env.py: 1082]
-05/10 03:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
-05/10 03:17:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:17:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:17:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:17:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:17:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:17:38 INFO: [Worker 0] Worker 0 house 1 episode 10/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:17:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:17:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:17:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:17:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:17:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:17:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.496s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:17:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.439[m] 89.278[deg]	[grasp_sample.py: 539]
-05/10 03:17:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:17:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:17:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:17:42 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:17:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 03:17:42 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/10 03:17:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:17:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:17:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:17:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.23s (batch: 4.40s, save: 9.84s)	[pipeline.py: 300]
-05/10 03:17:57 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.87s:
-  episode_total: mean=225.30s, total=225.30s, count=1, min=225298.6ms, max=225298.6ms
-  sensor_polling: mean=578.5ms, total=168.92s, count=292, min=464.7ms, max=992.5ms
-  save_trajectories: mean=9.84s, total=9.84s, count=1, min=9835.2ms, max=9835.2ms
-  physics_step: mean=30.6ms, total=8.95s, count=292, min=20.7ms, max=145.8ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4397.8ms, max=4397.8ms
-  task_sampling: mean=873.3ms, total=873.3ms, count=1, min=873.3ms, max=873.3ms
-  task_specific_sample: mean=867.5ms, total=867.5ms, count=1, min=867.5ms, max=867.5ms
-  scene_randomize: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
-  mj_forward_sync: mean=753.0us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
-  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:17:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:17:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:17:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:17:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:17:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:17:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:17:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013487m	[env.py: 870]
-05/10 03:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:17:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05523495  1.10132189  0.01348741] yaw=-135.6deg	[env.py: 1019]
-05/10 03:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82401027  0.15729634  0.01348741] yaw=166.1deg	[env.py: 1019]
-05/10 03:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:17:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.5ms, total=198.6ms	[env.py: 1075]
-05/10 03:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.055, 1.101, 0.013)	[env.py: 1079]
-05/10 03:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.6 deg	[env.py: 1082]
-05/10 03:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
-05/10 03:17:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:17:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:17:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:17:59 INFO: [Worker 0] Worker 0 house 1 episode 11/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:17:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:17:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:17:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:17:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:18:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.782s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:18:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.447[m] 83.527[deg]	[grasp_sample.py: 539]
-05/10 03:18:01 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:18:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:18:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:18:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:18:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:18:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:18:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:18:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:18:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:18:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:18:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:18:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022332m	[env.py: 870]
-05/10 03:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:18:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 128.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10140239  1.05118701  0.0223318 ] yaw=-137.1deg	[env.py: 1019]
-05/10 03:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.16626203  1.10347309  0.0223318 ] yaw=-134.2deg	[env.py: 1019]
-05/10 03:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94367636  1.01689939  0.0223318 ] yaw=-141.4deg	[env.py: 1019]
-05/10 03:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:18:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.6ms, total=177.6ms	[env.py: 1075]
-05/10 03:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.101, 1.051, 0.022)	[env.py: 1079]
-05/10 03:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.1 deg	[env.py: 1082]
-05/10 03:18:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
-05/10 03:18:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:18:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:18:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:18:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:18:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:18:03 INFO: [Worker 0] Worker 0 house 1 episode 12/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:18:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:18:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:18:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:18:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:18:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.631s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:18:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.443[m] 100.369[deg]	[grasp_sample.py: 539]
-05/10 03:18:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:18:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:18:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:18:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:18:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:18:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:18:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:18:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:18:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:18:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:19:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:19:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:19:38 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:20:06 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:20:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 03:20:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:20:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:20:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:20:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:20:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:20:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:20:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:20:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:20:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:20:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:20:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.73s (batch: 4.79s, save: 9.94s)	[pipeline.py: 300]
-05/10 03:20:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:20:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:20:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:20:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:20:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:20:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:20:21 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.501s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:20:21 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.656[deg]	[grasp_sample.py: 539]
-05/10 03:20:21 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.52s:
-  episode_total: mean=218.26s, total=218.26s, count=1, min=218263.5ms, max=218263.5ms
-  sensor_polling: mean=540.8ms, total=162.23s, count=300, min=459.6ms, max=838.2ms
-  save_trajectories: mean=9.94s, total=9.94s, count=1, min=9939.2ms, max=9939.2ms
-  physics_step: mean=26.6ms, total=7.97s, count=300, min=19.0ms, max=68.7ms
-  save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4786.1ms, max=4786.1ms
-  task_sampling: mean=522.1ms, total=522.1ms, count=1, min=522.1ms, max=522.1ms
-  task_specific_sample: mean=517.6ms, total=517.6ms, count=1, min=517.6ms, max=517.6ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=554.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=25.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:20:22 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:20:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:20:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:20:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:20:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:20:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:20:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:20:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:20:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:20:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033888m	[env.py: 870]
-05/10 03:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:20:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93787017  0.41724451 -0.03388784] yaw=174.6deg	[env.py: 1019]
-05/10 03:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70185483  0.66813509 -0.03388784] yaw=-178.1deg	[env.py: 1019]
-05/10 03:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85831462  0.40495908 -0.03388784] yaw=176.1deg	[env.py: 1019]
-05/10 03:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:20:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.1ms, total=188.1ms	[env.py: 1075]
-05/10 03:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.417, -0.034)	[env.py: 1079]
-05/10 03:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.6 deg	[env.py: 1082]
-05/10 03:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.767m	[env.py: 1086]
-05/10 03:20:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:20:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:20:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:20:23 INFO: [Worker 0] Worker 0 house 1 episode 11/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:20:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:20:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:20:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:20:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:20:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.478s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:20:24 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.366[m] 97.742[deg]	[grasp_sample.py: 539]
-05/10 03:20:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:20:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:20:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:20:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:20:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:20:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:20:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:20:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:20:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:20:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:20:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:20:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017797m	[env.py: 870]
-05/10 03:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:20:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 129.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65797205  0.23823893 -0.01779653] yaw=177.4deg	[env.py: 1019]
-05/10 03:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78949237  0.46354303 -0.01779653] yaw=181.5deg	[env.py: 1019]
-05/10 03:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91254679  0.26937222 -0.01779653] yaw=165.5deg	[env.py: 1019]
-05/10 03:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:20:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=341.9ms, total=341.9ms	[env.py: 1075]
-05/10 03:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.658, 0.238, -0.018)	[env.py: 1079]
-05/10 03:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.4 deg	[env.py: 1082]
-05/10 03:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m	[env.py: 1086]
-05/10 03:20:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:20:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:20:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:20:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:20:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:20:25 INFO: [Worker 0] Worker 0 house 1 episode 11/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:20:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:20:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:20:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:20:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:20:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.948s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:20:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.660[m] 99.293[deg]	[grasp_sample.py: 539]
-05/10 03:20:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:20:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:20:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:20:39 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:20:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:20:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:20:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:20:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:20:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:20:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:20:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:21:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:21:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:21:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:21:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:21:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:21:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:21:01 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.704s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:21:01 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.214[deg]	[grasp_sample.py: 539]
-05/10 03:21:03 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:21:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:21:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:21:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:21:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:21:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:21:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:21:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:21:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:21:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:21:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:21:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025858m	[env.py: 870]
-05/10 03:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:21:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90407883  0.85510384  0.02585821] yaw=-150.2deg	[env.py: 1019]
-05/10 03:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65312149  0.37151456  0.02585821] yaw=183.8deg	[env.py: 1019]
-05/10 03:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8691512   0.8738789   0.02585821] yaw=-164.4deg	[env.py: 1019]
-05/10 03:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:21:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.2ms, total=136.2ms	[env.py: 1075]
-05/10 03:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.904, 0.855, 0.026)	[env.py: 1079]
-05/10 03:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.2 deg	[env.py: 1082]
-05/10 03:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m	[env.py: 1086]
-05/10 03:21:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:21:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:21:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:21:05 INFO: [Worker 0] Worker 0 house 1 episode 13/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:21:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:21:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:21:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:21:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:21:05 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:21:05 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 03:21:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:21:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.758s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:21:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.467[m] 87.820[deg]	[grasp_sample.py: 539]
-05/10 03:21:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:21:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:21:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:21:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:21:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:21:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:21:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:21:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.67s (batch: 5.25s, save: 9.41s)	[pipeline.py: 300]
-05/10 03:21:21 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.44s:
-  episode_total: mean=223.27s, total=223.27s, count=1, min=223273.3ms, max=223273.3ms
-  sensor_polling: mean=555.1ms, total=166.53s, count=300, min=459.2ms, max=1056.0ms
-  save_trajectories: mean=9.41s, total=9.41s, count=1, min=9414.5ms, max=9414.5ms
-  physics_step: mean=27.3ms, total=8.20s, count=300, min=19.3ms, max=88.9ms
-  save_batch_prep: mean=5.25s, total=5.25s, count=1, min=5253.2ms, max=5253.2ms
-  task_sampling: mean=441.5ms, total=441.5ms, count=1, min=441.5ms, max=441.5ms
-  task_specific_sample: mean=437.1ms, total=437.1ms, count=1, min=437.1ms, max=437.1ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=457.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:21:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:21:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:21:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:21:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:21:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:21:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:21:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011243m	[env.py: 870]
-05/10 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:21:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95485291  0.53099072 -0.01124292] yaw=-170.2deg	[env.py: 1019]
-05/10 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:21:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=320.5ms, total=320.5ms	[env.py: 1075]
-05/10 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.955, 0.531, -0.011)	[env.py: 1079]
-05/10 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.2 deg	[env.py: 1082]
-05/10 03:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.749m	[env.py: 1086]
-05/10 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:21:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:21:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:21:23 INFO: [Worker 0] Worker 0 house 1 episode 11/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:21:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:21:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:21:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:21:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:21:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:21:24 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.286[m] 84.220[deg]	[grasp_sample.py: 539]
-05/10 03:21:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:21:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:21:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:21:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:21:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:21:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:21:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:22:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:22:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:22:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:22:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:22:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:22:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:22:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:22:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:22:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:22:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:22:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:22:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:22:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:22:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:22:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:22:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:22:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:22:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:22:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:22:58 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.792s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:22:58 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.326[deg]	[grasp_sample.py: 539]
-05/10 03:23:00 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:23:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:23:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:23:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:23:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:23:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:23:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:23:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:23:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:23:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:23:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:23:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014599m	[env.py: 870]
-05/10 03:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:23:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75397996  0.40345147 -0.01459855] yaw=173.9deg	[env.py: 1019]
-05/10 03:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80543824  0.27350804 -0.01459855] yaw=160.0deg	[env.py: 1019]
-05/10 03:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.70196444  0.70830078 -0.01459855] yaw=-157.7deg	[env.py: 1019]
-05/10 03:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:23:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=275.0ms, total=275.0ms	[env.py: 1075]
-05/10 03:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.754, 0.403, -0.015)	[env.py: 1079]
-05/10 03:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.9 deg	[env.py: 1082]
-05/10 03:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
-05/10 03:23:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:23:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:23:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:23:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:23:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:23:02 INFO: [Worker 0] Worker 0 house 1 episode 12/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:23:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:23:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:23:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:23:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:23:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.607s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:23:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.557[m] 100.312[deg]	[grasp_sample.py: 539]
-05/10 03:23:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:23:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:23:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:23:40 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:24:06 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:24:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 03:24:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:24:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:24:09 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:24:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:24:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:24:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:24:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.43s (batch: 4.55s, save: 9.88s)	[pipeline.py: 300]
-05/10 03:24:21 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:24:21 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.10s:
-  episode_total: mean=209.30s, total=418.61s, count=2, min=181842.3ms, max=236765.0ms
-  sensor_polling: mean=555.7ms, total=324.00s, count=583, min=458.6ms, max=1183.9ms
-  physics_step: mean=29.4ms, total=17.13s, count=583, min=16.7ms, max=133.5ms
-  save_trajectories: mean=9.88s, total=9.88s, count=1, min=9880.1ms, max=9880.1ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4550.9ms, max=4550.9ms
-  task_sampling: mean=552.5ms, total=1.10s, count=2, min=477.5ms, max=627.5ms
-  task_specific_sample: mean=548.4ms, total=1.10s, count=2, min=473.6ms, max=623.3ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.9ms, max=2.5ms
-  mj_forward_sync: mean=584.3us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
-  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:24:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:24:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:24:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:24:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:24:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:24:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:24:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:24:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:24:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011554m	[env.py: 870]
-05/10 03:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:24:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99476012  0.19609122 -0.01155424] yaw=154.4deg	[env.py: 1019]
-05/10 03:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03748806  1.09220354 -0.01155424] yaw=-147.0deg	[env.py: 1019]
-05/10 03:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75163039  0.91562326 -0.01155424] yaw=-159.9deg	[env.py: 1019]
-05/10 03:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:24:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.7ms, total=189.8ms	[env.py: 1075]
-05/10 03:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.995, 0.196, -0.012)	[env.py: 1079]
-05/10 03:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.4 deg	[env.py: 1082]
-05/10 03:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.763m	[env.py: 1086]
-05/10 03:24:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:24:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:24:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:24:24 INFO: [Worker 0] Worker 0 house 1 episode 12/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:24:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:24:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:24:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:24:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:24:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:24:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.101s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:24:25 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.384[m] 101.472[deg]	[grasp_sample.py: 539]
-05/10 03:24:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:24:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:24:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:24:36 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:24:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 03:24:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:24:45 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:24:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 03:24:45 INFO: [Worker 0] Preparing episode data: 278 timesteps	[save_utils.py: 278]
-05/10 03:24:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:24:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:24:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.89s (batch: 4.62s, save: 10.28s)	[pipeline.py: 300]
-05/10 03:24:52 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.41s:
-  episode_total: mean=136.68s, total=410.04s, count=3, min=2576.7ms, max=227598.9ms
-  sensor_polling: mean=556.3ms, total=322.65s, count=580, min=454.0ms, max=1216.3ms
-  physics_step: mean=28.9ms, total=16.76s, count=580, min=17.1ms, max=132.2ms
-  save_trajectories: mean=10.28s, total=10.28s, count=1, min=10275.5ms, max=10275.5ms
-  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4618.0ms, max=4618.0ms
-  task_sampling: mean=471.2ms, total=1.41s, count=3, min=430.3ms, max=509.4ms
-  task_specific_sample: mean=467.6ms, total=1.40s, count=3, min=427.1ms, max=505.2ms
-  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.3ms, max=2.8ms
-  mj_forward_sync: mean=579.4us, total=1.7ms, count=3, min=0.5ms, max=0.7ms
-  policy_setup: mean=18.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:24:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:24:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:24:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:24:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:24:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:24:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:24:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:24:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:24:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038500m	[env.py: 870]
-05/10 03:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:24:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03454609  1.1266785  -0.03849995] yaw=-134.0deg	[env.py: 1019]
-05/10 03:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77763736  0.80141582 -0.03849995] yaw=-153.0deg	[env.py: 1019]
-05/10 03:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81314491  0.60769197 -0.03849995] yaw=-171.2deg	[env.py: 1019]
-05/10 03:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:24:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.1ms, total=180.1ms	[env.py: 1075]
-05/10 03:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.035, 1.127, -0.038)	[env.py: 1079]
-05/10 03:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.0 deg	[env.py: 1082]
-05/10 03:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
-05/10 03:24:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:24:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:24:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:24:54 INFO: [Worker 0] Worker 0 house 1 episode 14/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:24:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:24:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:24:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:24:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:24:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.812s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:24:57 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.515[m] 82.950[deg]	[grasp_sample.py: 539]
-05/10 03:24:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:24:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:24:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:24:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:24:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:24:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.21s (batch: 4.53s, save: 9.68s)	[pipeline.py: 300]
-05/10 03:24:59 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.66s:
-  episode_total: mean=216.82s, total=216.82s, count=1, min=216816.6ms, max=216816.6ms
-  sensor_polling: mean=569.3ms, total=157.71s, count=277, min=464.6ms, max=1316.3ms
-  save_trajectories: mean=9.68s, total=9.68s, count=1, min=9678.4ms, max=9678.4ms
-  physics_step: mean=31.3ms, total=8.67s, count=277, min=16.7ms, max=137.4ms
-  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4533.8ms, max=4533.8ms
-  task_sampling: mean=659.7ms, total=659.7ms, count=1, min=659.7ms, max=659.7ms
-  task_specific_sample: mean=654.3ms, total=654.3ms, count=1, min=654.3ms, max=654.3ms
-  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
-  mj_forward_sync: mean=641.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:25:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:25:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:25:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:25:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:25:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:25:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:25:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:25:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:25:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:25:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:25:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016587m	[env.py: 870]
-05/10 03:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:25:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77182468  1.03369093  0.01658676] yaw=-154.7deg	[env.py: 1019]
-05/10 03:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00052394  1.0367717   0.01658676] yaw=-150.0deg	[env.py: 1019]
-05/10 03:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:25:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=704.4ms, total=704.5ms	[env.py: 1075]
-05/10 03:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.772, 1.034, 0.017)	[env.py: 1079]
-05/10 03:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.7 deg	[env.py: 1082]
-05/10 03:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
-05/10 03:25:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:25:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:25:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:25:02 INFO: [Worker 0] Worker 0 house 1 episode 12/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:25:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:25:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:25:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:25:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:25:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.725s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:25:07 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.700[m] 87.886[deg]	[grasp_sample.py: 539]
-05/10 03:25:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:25:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:25:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:25:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:25:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:25:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:25:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:26:00 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:26:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:26:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:26:30 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:26:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 03:26:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:26:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:26:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:26:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:26:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:26:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:26:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:26:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:26:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:26:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:26:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:26:48 INFO: [Worker 0] Successfully saved trajectory data for sim in 18.24s (batch: 4.87s, save: 13.38s)	[pipeline.py: 300]
-05/10 03:26:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:26:49 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.05s:
-  episode_total: mean=192.12s, total=384.24s, count=2, min=156944.2ms, max=227298.9ms
-  sensor_polling: mean=560.5ms, total=285.86s, count=510, min=465.3ms, max=1213.6ms
-  physics_step: mean=28.7ms, total=14.64s, count=510, min=16.3ms, max=128.6ms
-  save_trajectories: mean=13.38s, total=13.38s, count=1, min=13378.1ms, max=13378.1ms
-  save_batch_prep: mean=4.87s, total=4.87s, count=1, min=4866.5ms, max=4866.5ms
-  task_sampling: mean=525.0ms, total=1.05s, count=2, min=489.0ms, max=561.1ms
-  task_specific_sample: mean=521.1ms, total=1.04s, count=2, min=484.9ms, max=557.3ms
-  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.7ms, max=2.7ms
-  mj_forward_sync: mean=439.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:26:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:26:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:26:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:26:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:26:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:26:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:26:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:26:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:26:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:26:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007276m	[env.py: 870]
-05/10 03:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:26:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:26:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:26:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:26:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:26:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:26:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.68505168  0.79235631  0.00727594] yaw=-168.8deg	[env.py: 1019]
-05/10 03:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07679631  1.17300724  0.00727594] yaw=-121.2deg	[env.py: 1019]
-05/10 03:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71719918  0.60064113  0.00727594] yaw=-177.4deg	[env.py: 1019]
-05/10 03:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:26:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.8ms, total=172.8ms	[env.py: 1075]
-05/10 03:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.685, 0.792, 0.007)	[env.py: 1079]
-05/10 03:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.8 deg	[env.py: 1082]
-05/10 03:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m	[env.py: 1086]
-05/10 03:26:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:26:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:26:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.144s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:26:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:26:51 INFO: [Worker 0] Worker 0 house 1 episode 13/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:26:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:26:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:26:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:26:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:26:52 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.884s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:26:52 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.204[deg]	[grasp_sample.py: 539]
-05/10 03:26:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:26:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:26:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:26:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.625s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:26:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.597[m] 79.549[deg]	[grasp_sample.py: 539]
-05/10 03:26:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:26:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:26:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:26:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:27:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:27:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:27:22 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 03:27:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:27:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:27:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:27:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:27:24 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.648s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:27:24 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.932[deg]	[grasp_sample.py: 539]
-05/10 03:27:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:27:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:27:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:27:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:27:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:27:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:27:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:27:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:27:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:27:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:27:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:27:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:27:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:27:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:27:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:27:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:27:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:27:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:27:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:27:54 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.893s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:27:54 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.112[m] 1.013[deg]	[grasp_sample.py: 539]
-05/10 03:27:56 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:27:57 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:27:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:27:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:27:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:27:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:27:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:27:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:27:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:27:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:27:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:27:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:27:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025655m	[env.py: 870]
-05/10 03:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:27:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87415334  0.18306757 -0.02565475] yaw=154.7deg	[env.py: 1019]
-05/10 03:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:27:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=432.1ms, total=432.1ms	[env.py: 1075]
-05/10 03:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.874, 0.183, -0.026)	[env.py: 1079]
-05/10 03:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.7 deg	[env.py: 1082]
-05/10 03:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
-05/10 03:27:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:27:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:27:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:27:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:27:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:27:58 INFO: [Worker 0] Worker 0 house 1 episode 15/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:27:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:27:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:27:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:27:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:27:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.776s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:27:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.406[m] 81.602[deg]	[grasp_sample.py: 539]
-05/10 03:27:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:28:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:28:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:28:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:28:08 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:28:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:28:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:28:26 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:28:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 03:28:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:28:38 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:28:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 03:28:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:28:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:28:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:28:42 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.00s (batch: 5.31s, save: 10.69s)	[pipeline.py: 300]
-05/10 03:28:42 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.49s:
-  episode_total: mean=259.32s, total=259.32s, count=1, min=259320.2ms, max=259320.2ms
-  sensor_polling: mean=567.9ms, total=170.37s, count=300, min=464.3ms, max=989.9ms
-  save_trajectories: mean=10.69s, total=10.69s, count=1, min=10689.4ms, max=10689.4ms
-  physics_step: mean=27.6ms, total=8.28s, count=300, min=16.2ms, max=94.9ms
-  save_batch_prep: mean=5.31s, total=5.31s, count=1, min=5313.5ms, max=5313.5ms
-  task_sampling: mean=488.0ms, total=488.0ms, count=1, min=488.0ms, max=488.0ms
-  task_specific_sample: mean=483.9ms, total=483.9ms, count=1, min=483.9ms, max=483.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=536.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:28:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:28:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:28:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:28:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:28:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:28:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:28:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:28:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:28:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:28:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:28:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035896m	[env.py: 870]
-05/10 03:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:28:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92844354  0.72327431 -0.03589565] yaw=-167.8deg	[env.py: 1019]
-05/10 03:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85265278  0.99938942 -0.03589565] yaw=-145.5deg	[env.py: 1019]
-05/10 03:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03742164  0.97020735 -0.03589565] yaw=-151.2deg	[env.py: 1019]
-05/10 03:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:28:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.4ms, total=103.5ms	[env.py: 1075]
-05/10 03:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.928, 0.723, -0.036)	[env.py: 1079]
-05/10 03:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg	[env.py: 1082]
-05/10 03:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
-05/10 03:28:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:28:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:28:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:28:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:28:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:28:45 INFO: [Worker 0] Worker 0 house 1 episode 13/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:28:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:28:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:28:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:28:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:28:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.608s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:28:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.390[m] 92.290[deg]	[grasp_sample.py: 539]
-05/10 03:28:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:28:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:28:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:28:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:28:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:28:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:28:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.80s (batch: 4.58s, save: 9.22s)	[pipeline.py: 300]
-05/10 03:28:53 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.09s:
-  episode_total: mean=231.36s, total=231.36s, count=1, min=231363.5ms, max=231363.5ms
-  sensor_polling: mean=560.2ms, total=168.07s, count=300, min=471.1ms, max=901.6ms
-  save_trajectories: mean=9.22s, total=9.22s, count=1, min=9222.6ms, max=9222.6ms
-  physics_step: mean=28.3ms, total=8.49s, count=300, min=19.8ms, max=91.4ms
-  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4580.1ms, max=4580.1ms
-  task_sampling: mean=1.09s, total=1.09s, count=1, min=1086.2ms, max=1086.2ms
-  task_specific_sample: mean=1.08s, total=1.08s, count=1, min=1080.1ms, max=1080.1ms
-  scene_randomize: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
-  mj_forward_sync: mean=848.5us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
-  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:28:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:28:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:28:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:28:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:28:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:28:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:28:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:28:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:28:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:28:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:28:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004875m	[env.py: 870]
-05/10 03:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:28:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78179674  1.04155987  0.00487486] yaw=-151.9deg	[env.py: 1019]
-05/10 03:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02291045  0.98618443  0.00487486] yaw=-152.3deg	[env.py: 1019]
-05/10 03:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04193999  0.76657792  0.00487486] yaw=-158.8deg	[env.py: 1019]
-05/10 03:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:28:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=401.0ms, total=401.1ms	[env.py: 1075]
-05/10 03:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.782, 1.042, 0.005)	[env.py: 1079]
-05/10 03:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.9 deg	[env.py: 1082]
-05/10 03:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
-05/10 03:28:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:28:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:28:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:28:55 INFO: [Worker 0] Worker 0 house 1 episode 13/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:28:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:28:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:28:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:28:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:28:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:29:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.535s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:29:02 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.627[m] 84.772[deg]	[grasp_sample.py: 539]
-05/10 03:29:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:29:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:29:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:29:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:29:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:29:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:29:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:29:50 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:30:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:30:15 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:30:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 03:30:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:30:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:30:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:30:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:30:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:30:29 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.85s (batch: 4.48s, save: 9.37s)	[pipeline.py: 300]
-05/10 03:30:30 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.52s:
-  episode_total: mean=219.07s, total=219.07s, count=1, min=219073.6ms, max=219073.6ms
-  sensor_polling: mean=544.2ms, total=163.25s, count=300, min=458.1ms, max=942.6ms
-  save_trajectories: mean=9.37s, total=9.37s, count=1, min=9374.0ms, max=9374.0ms
-  physics_step: mean=26.5ms, total=7.95s, count=300, min=19.3ms, max=135.4ms
-  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4476.7ms, max=4476.7ms
-  task_sampling: mean=519.7ms, total=519.7ms, count=1, min=519.7ms, max=519.7ms
-  task_specific_sample: mean=514.6ms, total=514.6ms, count=1, min=514.6ms, max=514.6ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=619.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:30:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:30:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:30:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:30:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:30:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:30:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:30:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:30:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:30:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021314m	[env.py: 870]
-05/10 03:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:30:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77422377  0.29970089  0.02131352] yaw=175.4deg	[env.py: 1019]
-05/10 03:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64850349  0.71425829  0.02131352] yaw=-178.0deg	[env.py: 1019]
-05/10 03:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95948072  1.03851614  0.02131352] yaw=-136.5deg	[env.py: 1019]
-05/10 03:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:30:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.8ms, total=133.8ms	[env.py: 1075]
-05/10 03:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.774, 0.300, 0.021)	[env.py: 1079]
-05/10 03:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.4 deg	[env.py: 1082]
-05/10 03:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
-05/10 03:30:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:30:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:30:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:30:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:30:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:30:32 INFO: [Worker 0] Worker 0 house 1 episode 14/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:30:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:30:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:30:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:30:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:30:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:30:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.514[m] 90.532[deg]	[grasp_sample.py: 539]
-05/10 03:30:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:30:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:30:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:30:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:30:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:30:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:30:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:30:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:30:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:30:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:31:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:31:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:31:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:31:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:31:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:31:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:31:01 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.481s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:31:01 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.644[deg]	[grasp_sample.py: 539]
-05/10 03:31:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:31:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:31:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:31:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:31:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:31:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:31:26 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:31:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:31:32 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:31:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:31:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:31:50 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:31:56 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:31:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 03:31:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:31:59 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:31:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 03:31:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:32:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:32:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:32:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.78s (batch: 4.46s, save: 10.31s)	[pipeline.py: 300]
-05/10 03:32:12 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.21s:
-  episode_total: mean=217.89s, total=435.78s, count=2, min=181637.2ms, max=254139.2ms
-  sensor_polling: mean=540.6ms, total=310.84s, count=575, min=448.3ms, max=1127.2ms
-  physics_step: mean=28.4ms, total=16.35s, count=575, min=16.9ms, max=116.4ms
-  save_trajectories: mean=10.31s, total=10.31s, count=1, min=10314.1ms, max=10314.1ms
-  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4462.5ms, max=4462.5ms
-  task_sampling: mean=604.7ms, total=1.21s, count=2, min=486.9ms, max=722.5ms
-  task_specific_sample: mean=600.7ms, total=1.20s, count=2, min=482.7ms, max=718.7ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.7ms, max=2.7ms
-  mj_forward_sync: mean=617.2us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:32:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:32:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:32:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:32:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:32:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:32:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:32:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:32:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:32:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:32:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:32:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031282m	[env.py: 870]
-05/10 03:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:32:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03287556  0.69733139 -0.0312823 ] yaw=-169.8deg	[env.py: 1019]
-05/10 03:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73442685  0.21759077 -0.0312823 ] yaw=173.0deg	[env.py: 1019]
-05/10 03:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.71583948  0.16237493 -0.0312823 ] yaw=163.2deg	[env.py: 1019]
-05/10 03:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:32:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=234.7ms, total=234.7ms	[env.py: 1075]
-05/10 03:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.033, 0.697, -0.031)	[env.py: 1079]
-05/10 03:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.8 deg	[env.py: 1082]
-05/10 03:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.703m	[env.py: 1086]
-05/10 03:32:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:32:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:32:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:32:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:32:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:32:15 INFO: [Worker 0] Worker 0 house 1 episode 16/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:32:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:32:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:32:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:32:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:32:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:32:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:32:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.36s (batch: 4.45s, save: 11.91s)	[pipeline.py: 300]
-05/10 03:32:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.276s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:32:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.273[m] 88.578[deg]	[grasp_sample.py: 539]
-05/10 03:32:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:32:16 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:32:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 03:32:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:32:16 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.40s:
-  episode_total: mean=212.27s, total=212.27s, count=1, min=212274.9ms, max=212274.9ms
-  sensor_polling: mean=516.5ms, total=154.94s, count=300, min=444.5ms, max=806.0ms
-  save_trajectories: mean=11.91s, total=11.91s, count=1, min=11912.4ms, max=11912.4ms
-  physics_step: mean=25.9ms, total=7.77s, count=300, min=19.1ms, max=74.3ms
-  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4447.4ms, max=4447.4ms
-  task_sampling: mean=399.8ms, total=399.8ms, count=1, min=399.8ms, max=399.8ms
-  task_specific_sample: mean=395.9ms, total=395.9ms, count=1, min=395.9ms, max=395.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=452.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:32:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:32:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:32:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:32:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:32:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:32:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:32:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:32:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:32:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:32:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:32:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:32:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:32:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033279m	[env.py: 870]
-05/10 03:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:32:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 132.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91523154  0.09511572  0.03327888] yaw=158.6deg	[env.py: 1019]
-05/10 03:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81497773  0.01421157  0.03327888] yaw=151.8deg	[env.py: 1019]
-05/10 03:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64251669  0.41294917  0.03327888] yaw=173.0deg	[env.py: 1019]
-05/10 03:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:32:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.9ms, total=155.0ms	[env.py: 1075]
-05/10 03:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.095, 0.033)	[env.py: 1079]
-05/10 03:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.6 deg	[env.py: 1082]
-05/10 03:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m	[env.py: 1086]
-05/10 03:32:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:32:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:32:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:32:19 INFO: [Worker 0] Worker 0 house 1 episode 14/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:32:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:32:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:32:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:32:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:32:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.109s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:32:20 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.460[m] 93.674[deg]	[grasp_sample.py: 539]
-05/10 03:32:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:32:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:32:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:32:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:32:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:32:31 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.56s (batch: 4.50s, save: 10.06s)	[pipeline.py: 300]
-05/10 03:32:31 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.78s:
-  episode_total: mean=216.95s, total=216.95s, count=1, min=216954.5ms, max=216954.5ms
-  sensor_polling: mean=520.7ms, total=156.22s, count=300, min=449.5ms, max=875.5ms
-  save_trajectories: mean=10.06s, total=10.06s, count=1, min=10062.6ms, max=10062.6ms
-  physics_step: mean=25.7ms, total=7.70s, count=300, min=18.5ms, max=112.1ms
-  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4498.4ms, max=4498.4ms
-  task_sampling: mean=782.1ms, total=782.1ms, count=1, min=782.1ms, max=782.1ms
-  task_specific_sample: mean=777.2ms, total=777.2ms, count=1, min=777.2ms, max=777.2ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=644.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:32:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:32:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:32:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:32:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:32:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:32:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:32:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:32:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:32:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040951m	[env.py: 870]
-05/10 03:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:32:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91359854  0.58680114  0.04095139] yaw=-165.2deg	[env.py: 1019]
-05/10 03:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.14524583  1.0115226   0.04095139] yaw=-143.2deg	[env.py: 1019]
-05/10 03:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:32:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=327.2ms, total=327.2ms	[env.py: 1075]
-05/10 03:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.914, 0.587, 0.041)	[env.py: 1079]
-05/10 03:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.2 deg	[env.py: 1082]
-05/10 03:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.796m	[env.py: 1086]
-05/10 03:32:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:32:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:32:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:32:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:32:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:32:34 INFO: [Worker 0] Worker 0 house 1 episode 14/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:32:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:32:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:32:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:32:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:32:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:32:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.354[m] 90.613[deg]	[grasp_sample.py: 539]
-05/10 03:32:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:32:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:32:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:32:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:32:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:33:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:33:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:33:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:33:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:33:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:33:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:33:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:33:32 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:33:55 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:33:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 03:33:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:34:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:34:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:34:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.45s (batch: 4.12s, save: 8.33s)	[pipeline.py: 300]
-05/10 03:34:08 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.49s:
-  episode_total: mean=216.41s, total=216.41s, count=1, min=216409.9ms, max=216409.9ms
-  sensor_polling: mean=533.4ms, total=160.01s, count=300, min=429.5ms, max=875.8ms
-  physics_step: mean=29.1ms, total=8.73s, count=300, min=15.7ms, max=131.8ms
-  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8327.2ms, max=8327.2ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4122.7ms, max=4122.7ms
-  task_sampling: mean=490.7ms, total=490.7ms, count=1, min=490.7ms, max=490.7ms
-  task_specific_sample: mean=486.8ms, total=486.8ms, count=1, min=486.8ms, max=486.8ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=433.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:34:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:34:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:34:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:34:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:34:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:34:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:34:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:34:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:34:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017381m	[env.py: 870]
-05/10 03:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:34:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94119848  0.88569689 -0.01738104] yaw=-157.0deg	[env.py: 1019]
-05/10 03:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91747248  1.16015064 -0.01738104] yaw=-145.1deg	[env.py: 1019]
-05/10 03:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07422136  0.97754072 -0.01738104] yaw=-132.6deg	[env.py: 1019]
-05/10 03:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:34:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.4ms, total=90.4ms	[env.py: 1075]
-05/10 03:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.886, -0.017)	[env.py: 1079]
-05/10 03:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.0 deg	[env.py: 1082]
-05/10 03:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m	[env.py: 1086]
-05/10 03:34:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:34:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:34:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:34:10 INFO: [Worker 0] Worker 0 house 1 episode 15/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:34:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:34:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:34:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:34:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:34:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.585s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:34:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.451[m] 92.839[deg]	[grasp_sample.py: 539]
-05/10 03:34:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:34:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:34:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:34:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:34:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:34:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:34:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:34:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:34:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:34:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:34:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:34:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:34:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:34:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:34:50 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:34:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:34:51 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.797s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:34:51 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.136[deg]	[grasp_sample.py: 539]
-05/10 03:34:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:34:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:34:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:34:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:34:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:35:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:35:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:35:11 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:35:11 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 03:35:11 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
-05/10 03:35:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:35:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:35:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:35:23 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:35:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:35:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:35:25 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.04s (batch: 4.21s, save: 9.83s)	[pipeline.py: 300]
-05/10 03:35:26 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.54s:
-  episode_total: mean=191.51s, total=191.51s, count=1, min=191511.9ms, max=191511.9ms
-  sensor_polling: mean=516.8ms, total=142.13s, count=275, min=430.0ms, max=1067.8ms
-  save_trajectories: mean=9.83s, total=9.83s, count=1, min=9829.6ms, max=9829.6ms
-  physics_step: mean=26.4ms, total=7.26s, count=275, min=19.1ms, max=96.1ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4207.0ms, max=4207.0ms
-  task_sampling: mean=541.6ms, total=541.6ms, count=1, min=541.6ms, max=541.6ms
-  task_specific_sample: mean=537.0ms, total=537.0ms, count=1, min=537.0ms, max=537.0ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=657.9us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=26.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:35:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:35:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:35:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:35:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:35:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:35:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:35:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:35:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:35:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:35:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032261m	[env.py: 870]
-05/10 03:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:35:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07396566  0.83536763  0.0322607 ] yaw=-155.4deg	[env.py: 1019]
-05/10 03:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:35:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.9ms, total=201.9ms	[env.py: 1075]
-05/10 03:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.074, 0.835, 0.032)	[env.py: 1079]
-05/10 03:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.4 deg	[env.py: 1082]
-05/10 03:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.721m	[env.py: 1086]
-05/10 03:35:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:35:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:35:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:35:28 INFO: [Worker 0] Worker 0 house 1 episode 17/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:35:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:35:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:35:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:35:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:35:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.447s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:35:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.302[m] 92.615[deg]	[grasp_sample.py: 539]
-05/10 03:35:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:35:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:35:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:35:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:35:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:35:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:35:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:35:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:35:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:35:36 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:35:44 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:35:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 03:35:44 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/10 03:35:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:35:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:35:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:35:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.40s (batch: 4.34s, save: 11.05s)	[pipeline.py: 300]
-05/10 03:36:00 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.63s:
-  episode_total: mean=206.38s, total=206.38s, count=1, min=206384.9ms, max=206384.9ms
-  sensor_polling: mean=520.0ms, total=152.37s, count=293, min=415.6ms, max=1061.0ms
-  save_trajectories: mean=11.05s, total=11.05s, count=1, min=11052.5ms, max=11052.5ms
-  physics_step: mean=25.5ms, total=7.46s, count=293, min=18.2ms, max=59.2ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4344.0ms, max=4344.0ms
-  task_sampling: mean=626.6ms, total=626.6ms, count=1, min=626.6ms, max=626.6ms
-  task_specific_sample: mean=621.6ms, total=621.6ms, count=1, min=621.6ms, max=621.6ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=610.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:36:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:36:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:36:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:36:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:36:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:36:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:36:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:36:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:36:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014299m	[env.py: 870]
-05/10 03:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:36:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78097618  1.00611287 -0.01429875] yaw=-139.9deg	[env.py: 1019]
-05/10 03:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.63586573  0.74204534 -0.01429875] yaw=-156.6deg	[env.py: 1019]
-05/10 03:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99114386  1.27934103 -0.01429875] yaw=-131.3deg	[env.py: 1019]
-05/10 03:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:36:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.4ms, total=166.5ms	[env.py: 1075]
-05/10 03:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.781, 1.006, -0.014)	[env.py: 1079]
-05/10 03:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.9 deg	[env.py: 1082]
-05/10 03:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m	[env.py: 1086]
-05/10 03:36:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:36:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:36:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:36:02 INFO: [Worker 0] Worker 0 house 1 episode 15/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:36:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:36:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:36:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:36:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:36:02 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:36:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 03:36:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:36:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.745s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:36:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.634[m] 91.942[deg]	[grasp_sample.py: 539]
-05/10 03:36:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:36:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:36:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:36:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:36:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:36:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:36:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:36:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.07s (batch: 4.19s, save: 7.88s)	[pipeline.py: 300]
-05/10 03:36:15 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.45s:
-  episode_total: mean=236.27s, total=236.27s, count=1, min=236270.3ms, max=236270.3ms
-  sensor_polling: mean=517.0ms, total=155.10s, count=300, min=427.6ms, max=984.6ms
-  save_trajectories: mean=7.88s, total=7.88s, count=1, min=7881.4ms, max=7881.4ms
-  physics_step: mean=24.6ms, total=7.39s, count=300, min=18.5ms, max=61.6ms
-  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4188.3ms, max=4188.3ms
-  task_sampling: mean=453.5ms, total=453.5ms, count=1, min=453.5ms, max=453.5ms
-  task_specific_sample: mean=449.9ms, total=449.9ms, count=1, min=449.9ms, max=449.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=435.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:36:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:36:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:36:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:36:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:36:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:36:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:36:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046950m	[env.py: 870]
-05/10 03:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:36:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67454456  0.63273932  0.04694988] yaw=-168.0deg	[env.py: 1019]
-05/10 03:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91418373  0.91066062  0.04694988] yaw=-147.9deg	[env.py: 1019]
-05/10 03:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:36:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=185.9ms, total=186.0ms	[env.py: 1075]
-05/10 03:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.675, 0.633, 0.047)	[env.py: 1079]
-05/10 03:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.0 deg	[env.py: 1082]
-05/10 03:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m	[env.py: 1086]
-05/10 03:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:36:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:36:17 INFO: [Worker 0] Worker 0 house 1 episode 15/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:36:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:36:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:36:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:36:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:36:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.858s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:36:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.571[m] 91.742[deg]	[grasp_sample.py: 539]
-05/10 03:36:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:36:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:36:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:36:47 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:37:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:37:08 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:37:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 03:37:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:37:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:37:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:37:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:37:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:37:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:37:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.76s (batch: 3.86s, save: 9.90s)	[pipeline.py: 300]
-05/10 03:37:22 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.40s:
-  episode_total: mean=192.88s, total=192.88s, count=1, min=192885.0ms, max=192885.0ms
-  sensor_polling: mean=487.5ms, total=146.24s, count=300, min=407.8ms, max=942.1ms
-  save_trajectories: mean=9.90s, total=9.90s, count=1, min=9898.5ms, max=9898.5ms
-  physics_step: mean=23.0ms, total=6.90s, count=300, min=15.7ms, max=51.2ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3860.7ms, max=3860.7ms
-  task_sampling: mean=399.3ms, total=399.3ms, count=1, min=399.3ms, max=399.3ms
-  task_specific_sample: mean=395.8ms, total=395.8ms, count=1, min=395.8ms, max=395.8ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=399.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:37:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:37:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:37:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:37:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:37:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:37:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:37:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:37:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:37:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024187m	[env.py: 870]
-05/10 03:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:37:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8487056   1.0497393   0.02418747] yaw=-137.5deg	[env.py: 1019]
-05/10 03:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69131327  0.39469217  0.02418747] yaw=184.0deg	[env.py: 1019]
-05/10 03:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98006051  0.87490161  0.02418747] yaw=-156.2deg	[env.py: 1019]
-05/10 03:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:37:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=210.2ms, total=210.3ms	[env.py: 1075]
-05/10 03:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.849, 1.050, 0.024)	[env.py: 1079]
-05/10 03:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.5 deg	[env.py: 1082]
-05/10 03:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
-05/10 03:37:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:37:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:37:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:37:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:37:24 INFO: [Worker 0] Worker 0 house 1 episode 16/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:37:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:37:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:37:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:37:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:37:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.002s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:37:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.628[m] 101.194[deg]	[grasp_sample.py: 539]
-05/10 03:37:28 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:37:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:37:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:37:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:37:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:37:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:37:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:37:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:37:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:37:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:37:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031923m	[env.py: 870]
-05/10 03:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:37:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.12142048  1.03107382  0.03192304] yaw=-140.7deg	[env.py: 1019]
-05/10 03:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:37:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=245.9ms, total=246.0ms	[env.py: 1075]
-05/10 03:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.121, 1.031, 0.032)	[env.py: 1079]
-05/10 03:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.7 deg	[env.py: 1082]
-05/10 03:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.799m	[env.py: 1086]
-05/10 03:37:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:37:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:37:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:37:30 INFO: [Worker 0] Worker 0 house 1 episode 17/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:37:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:37:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:37:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:37:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:37:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.522s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:37:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.357[m] 79.179[deg]	[grasp_sample.py: 539]
-05/10 03:37:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:37:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:37:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:37:49 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:38:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:38:11 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:38:11 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 03:38:11 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
-05/10 03:38:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:38:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:38:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:38:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:38:23 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.52s (batch: 4.05s, save: 7.46s)	[pipeline.py: 300]
-05/10 03:38:23 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.45s:
-  episode_total: mean=176.13s, total=176.13s, count=1, min=176134.7ms, max=176134.7ms
-  sensor_polling: mean=468.1ms, total=131.53s, count=281, min=401.0ms, max=862.4ms
-  save_trajectories: mean=7.46s, total=7.46s, count=1, min=7462.2ms, max=7462.2ms
-  physics_step: mean=22.0ms, total=6.17s, count=281, min=17.0ms, max=65.6ms
-  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4054.4ms, max=4054.4ms
-  task_sampling: mean=447.3ms, total=447.3ms, count=1, min=447.3ms, max=447.3ms
-  task_specific_sample: mean=443.9ms, total=443.9ms, count=1, min=443.9ms, max=443.9ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=374.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:38:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:38:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:38:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:38:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:38:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:38:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:38:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:38:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:38:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001466m	[env.py: 870]
-05/10 03:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:38:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71367652  0.43686864 -0.00146633] yaw=181.7deg	[env.py: 1019]
-05/10 03:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.69572771  0.17455745 -0.00146633] yaw=158.2deg	[env.py: 1019]
-05/10 03:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:38:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=224.0ms, total=224.0ms	[env.py: 1075]
-05/10 03:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.437, -0.001)	[env.py: 1079]
-05/10 03:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.7 deg	[env.py: 1082]
-05/10 03:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
-05/10 03:38:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:38:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:38:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:38:25 INFO: [Worker 0] Worker 0 house 1 episode 18/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:38:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:38:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:38:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:38:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:38:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.488s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:38:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.578[m] 97.438[deg]	[grasp_sample.py: 539]
-05/10 03:38:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:38:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:38:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:38:29 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:38:46 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:38:47 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:38:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 03:38:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:38:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:38:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:38:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.91s (batch: 3.66s, save: 8.25s)	[pipeline.py: 300]
-05/10 03:39:00 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.43s:
-  episode_total: mean=178.31s, total=178.31s, count=1, min=178311.4ms, max=178311.4ms
-  sensor_polling: mean=451.9ms, total=135.56s, count=300, min=390.8ms, max=790.8ms
-  save_trajectories: mean=8.25s, total=8.25s, count=1, min=8251.5ms, max=8251.5ms
-  physics_step: mean=20.7ms, total=6.20s, count=300, min=16.7ms, max=45.0ms
-  save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3659.2ms, max=3659.2ms
-  task_sampling: mean=432.5ms, total=432.5ms, count=1, min=432.5ms, max=432.5ms
-  task_specific_sample: mean=427.7ms, total=427.7ms, count=1, min=427.7ms, max=427.7ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=602.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:39:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:39:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:39:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:39:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:39:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:39:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:39:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:39:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:39:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018577m	[env.py: 870]
-05/10 03:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:39:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.16643813  1.01161683 -0.01857729] yaw=-129.1deg	[env.py: 1019]
-05/10 03:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00952138  0.94670967 -0.01857729] yaw=-152.9deg	[env.py: 1019]
-05/10 03:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.77748262  0.70660123 -0.01857729] yaw=-173.8deg	[env.py: 1019]
-05/10 03:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:39:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.4ms, total=159.4ms	[env.py: 1075]
-05/10 03:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.166, 1.012, -0.019)	[env.py: 1079]
-05/10 03:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.1 deg	[env.py: 1082]
-05/10 03:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.753m	[env.py: 1086]
-05/10 03:39:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:39:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:39:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:39:02 INFO: [Worker 0] Worker 0 house 1 episode 16/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:39:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:39:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:39:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:39:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:39:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.795s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:39:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.371[m] 92.895[deg]	[grasp_sample.py: 539]
-05/10 03:39:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:39:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:39:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:39:10 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:39:10 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 03:39:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:39:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:39:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:39:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:39:21 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.08s (batch: 3.86s, save: 7.23s)	[pipeline.py: 300]
-05/10 03:39:22 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.52s:
-  episode_total: mean=185.80s, total=185.80s, count=1, min=185796.6ms, max=185796.6ms
-  sensor_polling: mean=459.8ms, total=137.93s, count=300, min=392.0ms, max=786.3ms
-  save_trajectories: mean=7.23s, total=7.23s, count=1, min=7227.1ms, max=7227.1ms
-  physics_step: mean=22.5ms, total=6.75s, count=300, min=16.2ms, max=72.2ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3855.5ms, max=3855.5ms
-  task_sampling: mean=518.2ms, total=518.2ms, count=1, min=518.2ms, max=518.2ms
-  task_specific_sample: mean=513.9ms, total=513.9ms, count=1, min=513.9ms, max=513.9ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=537.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:39:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:39:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:39:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:39:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:39:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:39:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:39:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:39:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:39:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:39:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:39:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034617m	[env.py: 870]
-05/10 03:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:39:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81373207  1.02081421  0.03461744] yaw=-147.6deg	[env.py: 1019]
-05/10 03:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.25521733  1.03572818  0.03461744] yaw=-122.9deg	[env.py: 1019]
-05/10 03:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:39:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=217.5ms, total=217.5ms	[env.py: 1075]
-05/10 03:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.814, 1.021, 0.035)	[env.py: 1079]
-05/10 03:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.6 deg	[env.py: 1082]
-05/10 03:39:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m	[env.py: 1086]
-05/10 03:39:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:39:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:39:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:39:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:39:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:39:24 INFO: [Worker 0] Worker 0 house 1 episode 16/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:39:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:39:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:39:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:39:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:39:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.618s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:39:28 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.617[m] 84.932[deg]	[grasp_sample.py: 539]
-05/10 03:39:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:39:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:39:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:39:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:39:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:39:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:39:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:39:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:39:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:39:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:39:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:39:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:39:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:39:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:39:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:39:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:39:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:39:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:39:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:39:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:39:48 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.468s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:39:48 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.331[deg]	[grasp_sample.py: 539]
-05/10 03:39:49 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:39:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:39:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:39:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:39:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:39:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:39:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:39:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:39:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032058m	[env.py: 870]
-05/10 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:39:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98597176  0.26709101  0.03205753] yaw=170.4deg	[env.py: 1019]
-05/10 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87977673  1.1621109   0.03205753] yaw=-144.9deg	[env.py: 1019]
-05/10 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78107952  0.57558378  0.03205753] yaw=-166.4deg	[env.py: 1019]
-05/10 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:39:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.0ms, total=84.0ms	[env.py: 1075]
-05/10 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.986, 0.267, 0.032)	[env.py: 1079]
-05/10 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.4 deg	[env.py: 1082]
-05/10 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.748m	[env.py: 1086]
-05/10 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:39:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:39:51 INFO: [Worker 0] Worker 0 house 1 episode 18/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:39:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:39:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:39:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:39:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:39:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.530s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:39:52 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.331[m] 94.582[deg]	[grasp_sample.py: 539]
-05/10 03:39:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:39:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:39:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:40:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:40:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:40:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:40:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:40:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:40:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:40:46 INFO: [Worker 0] Worker 0 house 1 episode 18 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:40:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:04 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:41:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 03:41:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:41:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:08 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 03:41:08 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.50s:
-  episode_total: mean=163.13s, total=163.13s, count=1, min=163131.8ms, max=163131.8ms
-  sensor_polling: mean=436.8ms, total=131.03s, count=300, min=394.1ms, max=681.9ms
-  physics_step: mean=21.0ms, total=6.29s, count=300, min=16.7ms, max=31.7ms
-  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3821.0ms, max=3821.0ms
-  task_sampling: mean=499.8ms, total=499.8ms, count=1, min=499.8ms, max=499.8ms
-  task_specific_sample: mean=496.2ms, total=496.2ms, count=1, min=496.2ms, max=496.2ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=396.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:41:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:41:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:41:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:41:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:41:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:41:08 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.366s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:41:08 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.171[deg]	[grasp_sample.py: 539]
-05/10 03:41:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:41:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:41:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:41:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:41:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:41:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:41:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:41:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:41:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:41:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007073m	[env.py: 870]
-05/10 03:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:41:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:41:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:41:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70758449  0.24521008 -0.00707339] yaw=174.0deg	[env.py: 1019]
-05/10 03:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.014941    1.07472951 -0.00707339] yaw=-147.9deg	[env.py: 1019]
-05/10 03:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:41:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=270.9ms, total=271.0ms	[env.py: 1075]
-05/10 03:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.708, 0.245, -0.007)	[env.py: 1079]
-05/10 03:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.0 deg	[env.py: 1082]
-05/10 03:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m	[env.py: 1086]
-05/10 03:41:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:41:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:41:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:41:10 INFO: [Worker 0] Worker 0 house 1 episode 19/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:41:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:41:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:41:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:41:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:41:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.012s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:41:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.567[m] 86.569[deg]	[grasp_sample.py: 539]
-05/10 03:41:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:41:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:41:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:41:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:41:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:41:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:41:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:41:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:41:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:19 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.630s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:41:19 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.329[deg]	[grasp_sample.py: 539]
-05/10 03:41:20 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:41:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:41:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:41:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:41:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:41:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:41:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:41:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:41:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:41:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038052m	[env.py: 870]
-05/10 03:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:41:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95793975  1.27133202  0.0380523 ] yaw=-129.4deg	[env.py: 1019]
-05/10 03:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94588011  0.82394126  0.0380523 ] yaw=-156.2deg	[env.py: 1019]
-05/10 03:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:41:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.0ms, total=207.1ms	[env.py: 1075]
-05/10 03:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.958, 1.271, 0.038)	[env.py: 1079]
-05/10 03:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.4 deg	[env.py: 1082]
-05/10 03:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
-05/10 03:41:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:41:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:41:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:41:22 INFO: [Worker 0] Worker 0 house 1 episode 17/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:41:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:41:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:41:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:41:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:41:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.498s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 03:41:23 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 03:41:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:41:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:41:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:41:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:41:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:41:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:41:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:41:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:41:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:41:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040392m	[env.py: 870]
-05/10 03:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:41:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89855642  0.49601802 -0.04039208] yaw=-172.0deg	[env.py: 1019]
-05/10 03:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87504074  0.25833105 -0.04039208] yaw=160.7deg	[env.py: 1019]
-05/10 03:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.78413921  0.986664   -0.04039208] yaw=-145.8deg	[env.py: 1019]
-05/10 03:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:41:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=225.4ms, total=225.5ms	[env.py: 1075]
-05/10 03:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.496, -0.040)	[env.py: 1079]
-05/10 03:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.0 deg	[env.py: 1082]
-05/10 03:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
-05/10 03:41:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:41:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:41:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:41:26 INFO: [Worker 0] Worker 0 house 1 episode 18/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:41:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:41:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:41:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:41:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:41:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.428s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:41:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.371[m] 88.096[deg]	[grasp_sample.py: 539]
-05/10 03:41:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:41:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:41:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:41:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:41:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:41:51 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:41:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:41:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:42:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:42:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:42:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:42:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:42:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:42:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:42:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:42:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:42:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:42:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:42:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:42:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:42:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:42:10 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.670s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:42:10 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.715[deg]	[grasp_sample.py: 539]
-05/10 03:42:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:42:12 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:42:12 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:42:12 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 03:42:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:42:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:42:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:42:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:42:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:42:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:42:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:42:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:42:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:42:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:42:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:42:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013958m	[env.py: 870]
-05/10 03:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:42:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67867544  0.21190492 -0.01395789] yaw=165.2deg	[env.py: 1019]
-05/10 03:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76144531  0.75978182 -0.01395789] yaw=-153.2deg	[env.py: 1019]
-05/10 03:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89363988  0.68854733 -0.01395789] yaw=-164.7deg	[env.py: 1019]
-05/10 03:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:42:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.4ms, total=163.4ms	[env.py: 1075]
-05/10 03:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.679, 0.212, -0.014)	[env.py: 1079]
-05/10 03:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.2 deg	[env.py: 1082]
-05/10 03:42:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
-05/10 03:42:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:42:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:42:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:42:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:42:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:42:15 INFO: [Worker 0] Worker 0 house 1 episode 19/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:42:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:42:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:42:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:42:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:42:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.705s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:42:15 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.615[m] 90.536[deg]	[grasp_sample.py: 539]
-05/10 03:42:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:42:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:42:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:42:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:42:16 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 03:42:17 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.47s:
-  episode_total: mean=173.05s, total=173.05s, count=1, min=173047.0ms, max=173047.0ms
-  sensor_polling: mean=446.6ms, total=133.97s, count=300, min=394.4ms, max=702.6ms
-  physics_step: mean=20.4ms, total=6.12s, count=300, min=16.8ms, max=43.3ms
-  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4318.2ms, max=4318.2ms
-  task_sampling: mean=469.2ms, total=469.2ms, count=1, min=469.2ms, max=469.2ms
-  task_specific_sample: mean=465.9ms, total=465.9ms, count=1, min=465.9ms, max=465.9ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=374.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:42:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:42:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:42:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:42:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:42:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:42:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:42:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:42:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:42:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:42:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:42:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:42:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048858m	[env.py: 870]
-05/10 03:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:42:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99013784  0.27542455 -0.0488583 ] yaw=155.6deg	[env.py: 1019]
-05/10 03:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.20259785  1.1102615  -0.0488583 ] yaw=-133.9deg	[env.py: 1019]
-05/10 03:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02481688  0.89420915 -0.0488583 ] yaw=-151.4deg	[env.py: 1019]
-05/10 03:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:42:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.5ms, total=106.5ms	[env.py: 1075]
-05/10 03:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.275, -0.049)	[env.py: 1079]
-05/10 03:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.6 deg	[env.py: 1082]
-05/10 03:42:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.742m	[env.py: 1086]
-05/10 03:42:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:42:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:42:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:42:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:42:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:42:19 INFO: [Worker 0] Worker 0 house 1 episode 17/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:42:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:42:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:42:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:42:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:42:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.459s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:42:19 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.288[m] 86.961[deg]	[grasp_sample.py: 539]
-05/10 03:42:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:42:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:42:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:42:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:42:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:42:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:43:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:43:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:43:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:43:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:43:41 INFO: [Worker 0] Worker 0 house 1 episode 19 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:43:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:43:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:43:57 INFO: [Worker 0] Worker 0 house 1 episode 18 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:43:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:43:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:43:59 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:43:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 03:43:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:44:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:44:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:44:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:44:03 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 03:44:03 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.57s:
-  episode_total: mean=173.52s, total=173.52s, count=1, min=173518.2ms, max=173518.2ms
-  sensor_polling: mean=464.6ms, total=139.38s, count=300, min=417.3ms, max=845.1ms
-  physics_step: mean=22.7ms, total=6.82s, count=300, min=16.6ms, max=48.2ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3878.8ms, max=3878.8ms
-  task_sampling: mean=572.8ms, total=572.8ms, count=1, min=572.8ms, max=572.8ms
-  task_specific_sample: mean=569.3ms, total=569.3ms, count=1, min=569.3ms, max=569.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=394.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:44:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:44:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:44:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:44:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:44:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:44:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:44:05 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.397s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:44:05 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.211[deg]	[grasp_sample.py: 539]
-05/10 03:44:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:44:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:44:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:44:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:44:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:44:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:44:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:44:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:44:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:44:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034017m	[env.py: 870]
-05/10 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:44:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7286828   0.34159617  0.03401706] yaw=169.2deg	[env.py: 1019]
-05/10 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91296169  0.41625333  0.03401706] yaw=183.8deg	[env.py: 1019]
-05/10 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89148036  0.77623854  0.03401706] yaw=-155.4deg	[env.py: 1019]
-05/10 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:44:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.9ms, total=192.9ms	[env.py: 1075]
-05/10 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.729, 0.342, 0.034)	[env.py: 1079]
-05/10 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.2 deg	[env.py: 1082]
-05/10 03:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
-05/10 03:44:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:44:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:44:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:44:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:44:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:44:05 INFO: [Worker 0] Worker 0 house 1 episode 20/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:44:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:44:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:44:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:44:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:44:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:44:06 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.521[m] 84.006[deg]	[grasp_sample.py: 539]
-05/10 03:44:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:44:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:44:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:44:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:44:16 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:44:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 03:44:16 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
-05/10 03:44:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:44:20 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 03:44:20 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=1.36s:
-  episode_total: mean=104.98s, total=314.94s, count=3, min=2088.7ms, max=174643.2ms
-  sensor_polling: mean=448.2ms, total=254.57s, count=568, min=394.6ms, max=731.2ms
-  physics_step: mean=20.2ms, total=11.48s, count=568, min=13.7ms, max=55.6ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3849.0ms, max=3849.0ms
-  task_sampling: mean=453.1ms, total=1.36s, count=3, min=422.1ms, max=490.1ms
-  task_specific_sample: mean=448.5ms, total=1.35s, count=3, min=417.5ms, max=486.4ms
-  scene_randomize: mean=2.2ms, total=6.6ms, count=3, min=1.6ms, max=3.2ms
-  mj_forward_sync: mean=539.4us, total=1.6ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=16.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:44:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:44:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:44:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:44:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:44:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:44:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:44:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:44:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:44:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:44:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:44:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012667m	[env.py: 870]
-05/10 03:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:44:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:44:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.3ms, total=218.4ms	[env.py: 1105]
-05/10 03:44:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 03:44:22 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 03:44:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:44:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:44:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:44:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:44:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:44:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:44:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:44:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:44:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:44:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:44:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:44:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020947m	[env.py: 870]
-05/10 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:44:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.14558577  1.08490511  0.02094673] yaw=-123.9deg	[env.py: 1019]
-05/10 03:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.60629098  0.51417448  0.02094673] yaw=-185.8deg	[env.py: 1019]
-05/10 03:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03847767  0.74883753  0.02094673] yaw=-152.9deg	[env.py: 1019]
-05/10 03:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:44:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=301.5ms, total=301.5ms	[env.py: 1075]
-05/10 03:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.146, 1.085, 0.021)	[env.py: 1079]
-05/10 03:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.9 deg	[env.py: 1082]
-05/10 03:44:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
-05/10 03:44:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:44:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:44:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:44:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:44:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:44:24 INFO: [Worker 0] Worker 0 house 1 episode 20/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:44:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:44:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:44:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:44:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:44:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.619s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:44:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.380[m] 90.367[deg]	[grasp_sample.py: 539]
-05/10 03:44:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:44:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:44:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:44:38 INFO: [Worker 0] Worker 0 house 1 episode 19 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:44:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:44:58 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:44:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 03:44:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:44:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:45:01 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:45:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:45:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:45:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:45:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:45:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:45:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.34s (batch: 4.09s, save: 8.26s)	[pipeline.py: 300]
-05/10 03:45:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:45:11 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=1.74s:
-  episode_total: mean=115.56s, total=462.25s, count=4, min=4102.8ms, max=177245.4ms
-  sensor_polling: mean=448.3ms, total=351.45s, count=784, min=384.2ms, max=768.0ms
-  physics_step: mean=20.4ms, total=15.96s, count=784, min=12.1ms, max=75.1ms
-  save_trajectories: mean=8.26s, total=8.26s, count=1, min=8259.5ms, max=8259.5ms
-  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4085.3ms, max=4085.3ms
-  task_sampling: mean=434.5ms, total=1.74s, count=4, min=329.7ms, max=498.9ms
-  task_specific_sample: mean=431.0ms, total=1.72s, count=4, min=327.2ms, max=496.0ms
-  scene_randomize: mean=1.6ms, total=6.6ms, count=4, min=1.2ms, max=2.5ms
-  mj_forward_sync: mean=481.0us, total=1.9ms, count=4, min=0.4ms, max=0.6ms
-  policy_setup: mean=15.2us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:45:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:45:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:45:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:45:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:45:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:45:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:45:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:45:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:45:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034980m	[env.py: 870]
-05/10 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:45:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.0457406   1.01380428  0.03497971] yaw=-132.1deg	[env.py: 1019]
-05/10 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:45:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=149.1ms, total=149.2ms	[env.py: 1075]
-05/10 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.046, 1.014, 0.035)	[env.py: 1079]
-05/10 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.1 deg	[env.py: 1082]
-05/10 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
-05/10 03:45:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:45:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:45:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:45:13 INFO: [Worker 0] Worker 0 house 1 episode 20/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:45:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:45:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:45:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:45:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:45:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.561s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:45:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.443[m] 92.133[deg]	[grasp_sample.py: 539]
-05/10 03:45:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:45:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:45:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:45:20 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:45:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 03:45:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:45:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:45:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:45:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.32s (batch: 3.92s, save: 8.40s)	[pipeline.py: 300]
-05/10 03:45:33 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.36s:
-  episode_total: mean=195.04s, total=195.04s, count=1, min=195044.7ms, max=195044.7ms
-  sensor_polling: mean=450.8ms, total=135.25s, count=300, min=406.9ms, max=756.8ms
-  save_trajectories: mean=8.40s, total=8.40s, count=1, min=8397.2ms, max=8397.2ms
-  physics_step: mean=19.8ms, total=5.93s, count=300, min=14.1ms, max=35.0ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3918.2ms, max=3918.2ms
-  task_sampling: mean=361.0ms, total=361.0ms, count=1, min=361.0ms, max=361.0ms
-  task_specific_sample: mean=357.6ms, total=357.6ms, count=1, min=357.6ms, max=357.6ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=394.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:45:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:45:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:45:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:45:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:45:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:45:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:45:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:45:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:45:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036774m	[env.py: 870]
-05/10 03:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:45:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8104622   0.31831254 -0.03677361] yaw=177.9deg	[env.py: 1019]
-05/10 03:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8816914   0.93798181 -0.03677361] yaw=-142.6deg	[env.py: 1019]
-05/10 03:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.92518573  0.68137359 -0.03677361] yaw=-154.6deg	[env.py: 1019]
-05/10 03:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:45:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.9ms, total=194.9ms	[env.py: 1075]
-05/10 03:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.810, 0.318, -0.037)	[env.py: 1079]
-05/10 03:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.9 deg	[env.py: 1082]
-05/10 03:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m	[env.py: 1086]
-05/10 03:45:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:45:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:45:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:45:35 INFO: [Worker 0] Worker 0 house 1 episode 18/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:45:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:45:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:45:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:45:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:45:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:45:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.482[m] 87.352[deg]	[grasp_sample.py: 539]
-05/10 03:45:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:45:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:45:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:45:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:46:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:46:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:46:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:46:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:46:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:46:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:46:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:46:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:46:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:46:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:46:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:46:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:46:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:46:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:46:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:46:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:46:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:46:42 INFO: [Worker 0] Worker 0 house 1 episode 20 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:46:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:46:44 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.522s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:46:44 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.546[deg]	[grasp_sample.py: 539]
-05/10 03:46:45 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:46:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:46:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:46:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:46:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:46:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:46:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:46:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:46:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:46:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017098m	[env.py: 870]
-05/10 03:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:46:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95584134  0.90660661 -0.01709766] yaw=-156.3deg	[env.py: 1019]
-05/10 03:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88245272  1.18844071 -0.01709766] yaw=-150.5deg	[env.py: 1019]
-05/10 03:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01893192  1.01473077 -0.01709766] yaw=-152.3deg	[env.py: 1019]
-05/10 03:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:46:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.2ms, total=136.3ms	[env.py: 1075]
-05/10 03:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.956, 0.907, -0.017)	[env.py: 1079]
-05/10 03:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.3 deg	[env.py: 1082]
-05/10 03:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
-05/10 03:46:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:46:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:46:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:46:48 INFO: [Worker 0] Worker 0 house 1 episode 21/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:46:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:46:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:46:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:46:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:46:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.080s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:46:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.449[m] 89.714[deg]	[grasp_sample.py: 539]
-05/10 03:46:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:46:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:46:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:47:08 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:47:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 03:47:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:47:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:47:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:47:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.53s (batch: 3.91s, save: 9.63s)	[pipeline.py: 300]
-05/10 03:47:23 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.46s:
-  episode_total: mean=197.83s, total=197.83s, count=1, min=197832.0ms, max=197832.0ms
-  sensor_polling: mean=471.1ms, total=141.34s, count=300, min=410.2ms, max=964.8ms
-  save_trajectories: mean=9.63s, total=9.63s, count=1, min=9627.4ms, max=9627.4ms
-  physics_step: mean=23.5ms, total=7.04s, count=300, min=14.1ms, max=75.4ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3906.5ms, max=3906.5ms
-  task_sampling: mean=458.0ms, total=458.0ms, count=1, min=458.0ms, max=458.0ms
-  task_specific_sample: mean=454.6ms, total=454.6ms, count=1, min=454.6ms, max=454.6ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=394.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:47:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:47:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:47:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:47:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:47:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:47:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:47:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:47:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:47:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020483m	[env.py: 870]
-05/10 03:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:47:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72891413  0.11978846 -0.020483  ] yaw=157.2deg	[env.py: 1019]
-05/10 03:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78313947  0.42831322 -0.020483  ] yaw=187.5deg	[env.py: 1019]
-05/10 03:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76696257  0.625523   -0.020483  ] yaw=-164.4deg	[env.py: 1019]
-05/10 03:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:47:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.3ms, total=99.3ms	[env.py: 1075]
-05/10 03:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.729, 0.120, -0.020)	[env.py: 1079]
-05/10 03:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.2 deg	[env.py: 1082]
-05/10 03:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m	[env.py: 1086]
-05/10 03:47:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:47:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:47:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:47:25 INFO: [Worker 0] Worker 0 house 1 episode 21/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:47:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:47:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:47:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:47:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:47:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.318s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:47:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.638[m] 96.917[deg]	[grasp_sample.py: 539]
-05/10 03:47:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:47:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:47:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:47:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:47:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:47:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:47:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:47:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:47:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:47:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:47:54 INFO: [Worker 0] Worker 0 house 1 episode 20 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:48:14 INFO: [Worker 0] Worker 0 house 1 episode 18 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:48:19 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:48:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 03:48:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:48:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:48:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:48:32 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.10s (batch: 4.27s, save: 8.83s)	[pipeline.py: 300]
-05/10 03:48:33 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.41s:
-  episode_total: mean=199.76s, total=199.76s, count=1, min=199757.7ms, max=199757.7ms
-  sensor_polling: mean=484.1ms, total=145.24s, count=300, min=391.2ms, max=904.0ms
-  save_trajectories: mean=8.83s, total=8.83s, count=1, min=8832.8ms, max=8832.8ms
-  physics_step: mean=22.9ms, total=6.87s, count=300, min=14.2ms, max=53.3ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4265.6ms, max=4265.6ms
-  task_sampling: mean=408.2ms, total=408.2ms, count=1, min=408.2ms, max=408.2ms
-  task_specific_sample: mean=404.6ms, total=404.6ms, count=1, min=404.6ms, max=404.6ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=373.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:48:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:48:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:48:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:48:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:48:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:48:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:48:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:48:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:48:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:48:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047256m	[env.py: 870]
-05/10 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:48:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72013274  0.00423599 -0.04725613] yaw=164.2deg	[env.py: 1019]
-05/10 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81093942  0.97001206 -0.04725613] yaw=-154.5deg	[env.py: 1019]
-05/10 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.06087738  0.79681602 -0.04725613] yaw=-150.6deg	[env.py: 1019]
-05/10 03:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:48:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.6ms, total=123.6ms	[env.py: 1075]
-05/10 03:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.720, 0.004, -0.047)	[env.py: 1079]
-05/10 03:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.2 deg	[env.py: 1082]
-05/10 03:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
-05/10 03:48:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:48:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:48:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:48:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:48:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:48:35 INFO: [Worker 0] Worker 0 house 1 episode 21/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:48:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:48:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:48:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:48:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:48:36 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:48:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 03:48:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:48:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.461s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:48:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.624[m] 82.653[deg]	[grasp_sample.py: 539]
-05/10 03:48:37 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:48:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:48:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:48:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:48:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:48:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:48:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:48:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.033m, effective arm-mount z=0.827m (base_body_z=-0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033186m	[env.py: 870]
-05/10 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:48:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65598424  0.19492988 -0.03318601] yaw=157.6deg	[env.py: 1019]
-05/10 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81129386  0.98575533 -0.03318601] yaw=-145.2deg	[env.py: 1019]
-05/10 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68595944  0.70960485 -0.03318601] yaw=-155.9deg	[env.py: 1019]
-05/10 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:48:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=191.1ms, total=191.1ms	[env.py: 1075]
-05/10 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.656, 0.195, -0.033)	[env.py: 1079]
-05/10 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.6 deg	[env.py: 1082]
-05/10 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
-05/10 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:48:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:48:39 INFO: [Worker 0] Worker 0 house 1 episode 22/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:48:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:48:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:48:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:48:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:48:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.421s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:48:41 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.667[m] 87.253[deg]	[grasp_sample.py: 539]
-05/10 03:48:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:48:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:48:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:48:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:48:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:48:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:48:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:48:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.51s (batch: 3.97s, save: 7.53s)	[pipeline.py: 300]
-05/10 03:48:48 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.46s:
-  episode_total: mean=192.85s, total=192.85s, count=1, min=192853.2ms, max=192853.2ms
-  sensor_polling: mean=491.3ms, total=147.40s, count=300, min=393.3ms, max=937.2ms
-  save_trajectories: mean=7.53s, total=7.53s, count=1, min=7533.8ms, max=7533.8ms
-  physics_step: mean=23.2ms, total=6.97s, count=300, min=13.6ms, max=73.3ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3974.4ms, max=3974.4ms
-  task_sampling: mean=459.5ms, total=459.5ms, count=1, min=459.5ms, max=459.5ms
-  task_specific_sample: mean=456.4ms, total=456.4ms, count=1, min=456.4ms, max=456.4ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=383.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:48:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:48:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:48:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:48:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:48:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:48:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:48:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:48:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:48:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014974m	[env.py: 870]
-05/10 03:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:48:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.61872186  0.36222124 -0.01497397] yaw=168.0deg	[env.py: 1019]
-05/10 03:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86870866  0.61097002 -0.01497397] yaw=-182.2deg	[env.py: 1019]
-05/10 03:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:48:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=260.4ms, total=260.5ms	[env.py: 1075]
-05/10 03:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.619, 0.362, -0.015)	[env.py: 1079]
-05/10 03:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.0 deg	[env.py: 1082]
-05/10 03:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
-05/10 03:48:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:48:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:48:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:48:50 INFO: [Worker 0] Worker 0 house 1 episode 19/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:48:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:48:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:48:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:48:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:48:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.187s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:48:51 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.630[m] 85.633[deg]	[grasp_sample.py: 539]
-05/10 03:48:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:48:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:48:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:49:19 INFO: [Worker 0] Worker 0 house 1 episode 21 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:49:41 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:49:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 03:49:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:49:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:49:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:49:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:49:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:49:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.66s (batch: 4.05s, save: 9.61s)	[pipeline.py: 300]
-05/10 03:49:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:49:56 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.99s:
-  episode_total: mean=110.29s, total=330.88s, count=3, min=228.6ms, max=188633.4ms
-  sensor_polling: mean=465.4ms, total=257.86s, count=554, min=392.4ms, max=962.7ms
-  physics_step: mean=21.9ms, total=12.15s, count=554, min=13.8ms, max=86.4ms
-  save_trajectories: mean=9.61s, total=9.61s, count=1, min=9614.7ms, max=9614.7ms
-  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4045.7ms, max=4045.7ms
-  task_specific_sample: mean=402.1ms, total=1.21s, count=3, min=223.3ms, max=596.5ms
-  task_sampling: mean=494.8ms, total=989.5ms, count=2, min=389.4ms, max=600.1ms
-  task_sampling_failed: mean=228.5ms, total=228.5ms, count=1, min=228.5ms, max=228.5ms
-  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.1ms, max=2.6ms
-  mj_forward_sync: mean=445.6us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:49:57 INFO: [Worker 0] Worker 0 house 1 episode 21 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:49:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:49:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:49:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:49:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:49:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:49:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:49:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:49:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:49:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003022m	[env.py: 870]
-05/10 03:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:49:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79827258  0.64819982  0.00302179] yaw=-168.6deg	[env.py: 1019]
-05/10 03:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.18463374  1.10147515  0.00302179] yaw=-121.2deg	[env.py: 1019]
-05/10 03:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06376513  0.97150125  0.00302179] yaw=-139.8deg	[env.py: 1019]
-05/10 03:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:49:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=257.5ms, total=257.6ms	[env.py: 1075]
-05/10 03:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.798, 0.648, 0.003)	[env.py: 1079]
-05/10 03:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.6 deg	[env.py: 1082]
-05/10 03:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
-05/10 03:49:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:49:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:49:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:49:58 INFO: [Worker 0] Worker 0 house 1 episode 22/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:49:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:49:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:49:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:49:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:49:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.569s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:49:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.494[m] 93.715[deg]	[grasp_sample.py: 539]
-05/10 03:49:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:49:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:49:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:50:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:50:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:50:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:50:20 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:50:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 03:50:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:50:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:50:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:50:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.34s (batch: 3.98s, save: 10.37s)	[pipeline.py: 300]
-05/10 03:50:35 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.35s:
-  episode_total: mean=190.38s, total=190.38s, count=1, min=190381.4ms, max=190381.4ms
-  sensor_polling: mean=461.9ms, total=138.56s, count=300, min=397.3ms, max=897.4ms
-  save_trajectories: mean=10.37s, total=10.37s, count=1, min=10367.3ms, max=10367.3ms
-  physics_step: mean=22.4ms, total=6.71s, count=300, min=16.9ms, max=56.2ms
-  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3976.0ms, max=3976.0ms
-  task_sampling: mean=350.5ms, total=350.5ms, count=1, min=350.5ms, max=350.5ms
-  task_specific_sample: mean=346.3ms, total=346.3ms, count=1, min=346.3ms, max=346.3ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=487.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:50:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:50:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:50:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:50:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:50:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:50:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:50:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:50:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:50:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:50:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:50:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006859m	[env.py: 870]
-05/10 03:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:50:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69938096  0.93134358 -0.00685935] yaw=-160.3deg	[env.py: 1019]
-05/10 03:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0126432   1.28732012 -0.00685935] yaw=-132.0deg	[env.py: 1019]
-05/10 03:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.78185657  0.23085068 -0.00685935] yaw=153.4deg	[env.py: 1019]
-05/10 03:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:50:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.4ms, total=142.4ms	[env.py: 1075]
-05/10 03:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.699, 0.931, -0.007)	[env.py: 1079]
-05/10 03:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.3 deg	[env.py: 1082]
-05/10 03:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
-05/10 03:50:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:50:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:50:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:50:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:50:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:50:37 INFO: [Worker 0] Worker 0 house 1 episode 22/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:50:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:50:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:50:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:50:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:50:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:50:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:50:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:50:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:50:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:50:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:50:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.017s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:50:42 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.716[m] 96.260[deg]	[grasp_sample.py: 539]
-05/10 03:50:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:50:43 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:50:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:50:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:50:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:50:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:50:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:50:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:50:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:50:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:50:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:50:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:50:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002954m	[env.py: 870]
-05/10 03:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:50:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88361564  0.79099416 -0.00295375] yaw=-160.9deg	[env.py: 1019]
-05/10 03:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03389854  0.96989276 -0.00295375] yaw=-132.5deg	[env.py: 1019]
-05/10 03:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04146804  0.12498978 -0.00295375] yaw=147.5deg	[env.py: 1019]
-05/10 03:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:50:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=449.5ms, total=449.5ms	[env.py: 1075]
-05/10 03:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.884, 0.791, -0.003)	[env.py: 1079]
-05/10 03:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.9 deg	[env.py: 1082]
-05/10 03:50:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
-05/10 03:50:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:50:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:50:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:50:46 INFO: [Worker 0] Worker 0 house 1 episode 23/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:50:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:50:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:50:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:50:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:50:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:50:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.110s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:50:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.452[m] 96.693[deg]	[grasp_sample.py: 539]
-05/10 03:50:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:50:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:50:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:50:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:50:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:50:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:50:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:50:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:50:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:50:48 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.803s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:50:48 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.417[deg]	[grasp_sample.py: 539]
-05/10 03:50:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:50:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:50:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:50:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:50:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:50:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:50:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:50:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:50:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:50:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:50:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:50:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:50:53 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.515s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:50:53 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.278[deg]	[grasp_sample.py: 539]
-05/10 03:50:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:50:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:50:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:50:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:50:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:50:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:51:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:51:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:51:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:51:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:51:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:51:16 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 03:51:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:51:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:51:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:51:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:51:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:51:18 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.730s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:51:18 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.936[deg]	[grasp_sample.py: 539]
-05/10 03:51:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:51:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:51:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:51:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:51:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:51:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:51:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:51:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:51:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:51:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:51:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:51:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:51:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:51:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:51:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:51:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:51:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.417s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:51:29 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.781[deg]	[grasp_sample.py: 539]
-05/10 03:51:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:51:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:51:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:51:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:51:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:51:33 INFO: [Worker 0] Worker 0 house 1 episode 22 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 03:51:33 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=False episode_total=0.83s:
-  episode_total: mean=88.60s, total=177.20s, count=2, min=2972.4ms, max=174228.3ms
-  sensor_polling: mean=470.2ms, total=141.07s, count=300, min=403.5ms, max=772.1ms
-  physics_step: mean=21.1ms, total=6.34s, count=300, min=12.9ms, max=59.3ms
-  task_sampling: mean=414.9ms, total=829.9ms, count=2, min=406.2ms, max=423.7ms
-  task_specific_sample: mean=411.3ms, total=822.5ms, count=2, min=403.5ms, max=419.1ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.1ms, max=3.0ms
-  mj_forward_sync: mean=485.2us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=15.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:51:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:51:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:51:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:51:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:51:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:51:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:51:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:51:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:51:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:51:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:51:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:51:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035168m	[env.py: 870]
-05/10 03:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:51:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.18108664  1.13530836 -0.03516799] yaw=-130.1deg	[env.py: 1019]
-05/10 03:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:51:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.3ms, total=215.3ms	[env.py: 1075]
-05/10 03:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.181, 1.135, -0.035)	[env.py: 1079]
-05/10 03:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.1 deg	[env.py: 1082]
-05/10 03:51:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m	[env.py: 1086]
-05/10 03:51:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:51:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:51:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:51:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:51:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:51:35 INFO: [Worker 0] Worker 0 house 1 episode 23/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:51:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:51:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:51:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:51:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:51:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.509s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:51:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.420[m] 91.463[deg]	[grasp_sample.py: 539]
-05/10 03:51:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:51:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:51:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:51:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:51:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:51:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:51:51 INFO: [Worker 0] Worker 0 house 1 episode 19 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 03:51:51 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=False episode_total=0.56s:
-  episode_total: mean=181.43s, total=181.43s, count=1, min=181425.7ms, max=181425.7ms
-  sensor_polling: mean=473.2ms, total=141.97s, count=300, min=409.5ms, max=815.4ms
-  physics_step: mean=20.9ms, total=6.28s, count=300, min=13.5ms, max=50.4ms
-  task_sampling: mean=555.7ms, total=555.7ms, count=1, min=555.7ms, max=555.7ms
-  task_specific_sample: mean=551.6ms, total=551.6ms, count=1, min=551.6ms, max=551.6ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=541.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:51:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:51:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:51:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:51:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:51:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:51:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:51:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015938m	[env.py: 870]
-05/10 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:51:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95123477  1.05241687  0.01593766] yaw=-142.8deg	[env.py: 1019]
-05/10 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:51:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=232.8ms, total=232.9ms	[env.py: 1075]
-05/10 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 1.052, 0.016)	[env.py: 1079]
-05/10 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.8 deg	[env.py: 1082]
-05/10 03:51:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m	[env.py: 1086]
-05/10 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:51:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:51:53 INFO: [Worker 0] Worker 0 house 1 episode 20/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:51:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:51:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:51:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:51:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:51:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.486s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:51:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.480[m] 85.828[deg]	[grasp_sample.py: 539]
-05/10 03:51:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:51:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:51:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:52:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:52:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:52:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:52:34 INFO: [Worker 0] Worker 0 house 1 episode 22 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:52:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:52:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:52:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:53:02 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:53:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 03:53:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:53:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:53:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:53:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.01s (batch: 4.55s, save: 10.46s)	[pipeline.py: 300]
-05/10 03:53:17 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.52s:
-  episode_total: mean=199.85s, total=199.85s, count=1, min=199853.4ms, max=199853.4ms
-  sensor_polling: mean=480.1ms, total=144.02s, count=300, min=406.9ms, max=844.8ms
-  save_trajectories: mean=10.46s, total=10.46s, count=1, min=10463.3ms, max=10463.3ms
-  physics_step: mean=22.2ms, total=6.66s, count=300, min=16.5ms, max=48.4ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4545.5ms, max=4545.5ms
-  task_sampling: mean=521.5ms, total=521.5ms, count=1, min=521.5ms, max=521.5ms
-  task_specific_sample: mean=517.8ms, total=517.8ms, count=1, min=517.8ms, max=517.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=444.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:53:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:53:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:53:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:53:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:53:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:53:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:53:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:53:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:53:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:53:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:53:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039182m	[env.py: 870]
-05/10 03:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:53:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05951669  1.26134032 -0.0391817 ] yaw=-130.2deg	[env.py: 1019]
-05/10 03:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99825249  0.40316831 -0.0391817 ] yaw=164.8deg	[env.py: 1019]
-05/10 03:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80846838  0.25955107 -0.0391817 ] yaw=164.6deg	[env.py: 1019]
-05/10 03:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:53:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.7ms, total=118.8ms	[env.py: 1075]
-05/10 03:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.060, 1.261, -0.039)	[env.py: 1079]
-05/10 03:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.2 deg	[env.py: 1082]
-05/10 03:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
-05/10 03:53:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:53:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:53:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:53:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:53:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:53:19 INFO: [Worker 0] Worker 0 house 1 episode 23/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:53:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:53:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:53:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:53:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:53:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.540s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:53:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.557[m] 81.301[deg]	[grasp_sample.py: 539]
-05/10 03:53:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:53:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:53:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:53:22 INFO: [Worker 0] Worker 0 house 1 episode 23 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:53:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:53:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:53:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:53:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:53:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:53:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:53:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:53:47 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:53:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 03:53:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:53:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:53:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:53:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:53:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:53:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:53:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:53:50 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.737s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:53:50 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.315[deg]	[grasp_sample.py: 539]
-05/10 03:53:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:53:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:53:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:54:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:54:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:54:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.72s (batch: 4.45s, save: 8.27s)	[pipeline.py: 300]
-05/10 03:54:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:54:00 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=1.14s:
-  episode_total: mean=101.10s, total=202.20s, count=2, min=6763.6ms, max=195437.0ms
-  sensor_polling: mean=482.7ms, total=144.80s, count=300, min=408.1ms, max=875.0ms
-  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8265.8ms, max=8265.8ms
-  physics_step: mean=23.1ms, total=6.92s, count=300, min=13.6ms, max=78.6ms
-  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4450.0ms, max=4450.0ms
-  task_sampling: mean=570.4ms, total=1.14s, count=2, min=428.6ms, max=712.3ms
-  task_specific_sample: mean=566.5ms, total=1.13s, count=2, min=424.5ms, max=708.6ms
-  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.5ms, max=2.6ms
-  mj_forward_sync: mean=548.7us, total=1.1ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:54:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:54:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:54:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:54:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:54:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:54:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:54:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001964m	[env.py: 870]
-05/10 03:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:54:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.60478656  0.42766466 -0.00196351] yaw=177.2deg	[env.py: 1019]
-05/10 03:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74403763  0.33642814 -0.00196351] yaw=178.8deg	[env.py: 1019]
-05/10 03:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87392063  0.06931489 -0.00196351] yaw=161.9deg	[env.py: 1019]
-05/10 03:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:54:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=296.5ms, total=296.6ms	[env.py: 1075]
-05/10 03:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.605, 0.428, -0.002)	[env.py: 1079]
-05/10 03:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.2 deg	[env.py: 1082]
-05/10 03:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
-05/10 03:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:54:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:54:03 INFO: [Worker 0] Worker 0 house 1 episode 24/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:54:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:54:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:54:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:54:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:54:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.541s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:54:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.616[m] 85.209[deg]	[grasp_sample.py: 539]
-05/10 03:54:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:54:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:54:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:54:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:54:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:54:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:54:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:54:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:54:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:54:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:18 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.591s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:54:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.110[m] 0.602[deg]	[grasp_sample.py: 539]
-05/10 03:54:19 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:54:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:54:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:54:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:54:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:54:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:54:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:54:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:54:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:54:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:54:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:54:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036973m	[env.py: 870]
-05/10 03:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:54:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09634724  0.98411843  0.03697319] yaw=-140.8deg	[env.py: 1019]
-05/10 03:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89551283  0.73775189  0.03697319] yaw=-168.1deg	[env.py: 1019]
-05/10 03:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 124.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89755198  0.94066125  0.03697319] yaw=-143.1deg	[env.py: 1019]
-05/10 03:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:54:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.6ms, total=145.6ms	[env.py: 1075]
-05/10 03:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.096, 0.984, 0.037)	[env.py: 1079]
-05/10 03:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.8 deg	[env.py: 1082]
-05/10 03:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.787m	[env.py: 1086]
-05/10 03:54:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:54:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:54:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:54:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:54:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:54:21 INFO: [Worker 0] Worker 0 house 1 episode 24/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:54:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:54:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:54:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:54:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:54:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:54:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.363[m] 83.532[deg]	[grasp_sample.py: 539]
-05/10 03:54:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:54:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:54:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:54:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:54:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:54:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:54:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:54:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:54:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:54:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:54:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.434s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:54:30 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.359[deg]	[grasp_sample.py: 539]
-05/10 03:54:31 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:54:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:54:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:54:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:54:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:54:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:54:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:54:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:54:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:54:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.030m, effective arm-mount z=0.830m (base_body_z=-0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030308m	[env.py: 870]
-05/10 03:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:54:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:54:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=257.6ms, total=257.6ms	[env.py: 1105]
-05/10 03:54:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 03:54:33 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 03:54:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:54:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:54:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:54:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:54:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:54:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:54:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:54:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:54:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:54:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:54:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009141m	[env.py: 870]
-05/10 03:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:54:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77665199  0.16058015 -0.00914083] yaw=156.8deg	[env.py: 1019]
-05/10 03:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83788641  0.47820378 -0.00914083] yaw=182.1deg	[env.py: 1019]
-05/10 03:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83882276  0.62417366 -0.00914083] yaw=-171.5deg	[env.py: 1019]
-05/10 03:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:54:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.7ms, total=135.7ms	[env.py: 1075]
-05/10 03:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.161, -0.009)	[env.py: 1079]
-05/10 03:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.8 deg	[env.py: 1082]
-05/10 03:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m	[env.py: 1086]
-05/10 03:54:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:54:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:54:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:54:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:54:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:54:35 INFO: [Worker 0] Worker 0 house 1 episode 22/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:54:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:54:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:54:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:54:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:54:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.439s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:54:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.516[m] 81.335[deg]	[grasp_sample.py: 539]
-05/10 03:54:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:54:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:54:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:54:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:54:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:54:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:55:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:55:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:55:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:55:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:55:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:55:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:55:02 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.487s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:55:02 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.098[m] 1.440[deg]	[grasp_sample.py: 539]
-05/10 03:55:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:55:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:55:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:55:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:55:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:55:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:55:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:55:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:55:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:55:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:55:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:55:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:55:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:55:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:55:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:55:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:55:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:55:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:55:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:55:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 82 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:55:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:55:22 INFO: [Worker 0] Feasibility-checked 82 grasps in 3.938s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:55:22 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.030[m] 11.428[deg]	[grasp_sample.py: 539]
-05/10 03:55:23 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:55:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:55:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:55:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:55:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:55:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:55:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:55:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:55:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:55:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046847m	[env.py: 870]
-05/10 03:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:55:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81298881  0.14892363 -0.04684658] yaw=149.6deg	[env.py: 1019]
-05/10 03:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.6184916   0.5303865  -0.04684658] yaw=-188.0deg	[env.py: 1019]
-05/10 03:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.63246438  0.55082683 -0.04684658] yaw=-166.6deg	[env.py: 1019]
-05/10 03:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:55:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=256.8ms, total=256.8ms	[env.py: 1075]
-05/10 03:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.813, 0.149, -0.047)	[env.py: 1079]
-05/10 03:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.6 deg	[env.py: 1082]
-05/10 03:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
-05/10 03:55:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:55:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:55:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:55:25 INFO: [Worker 0] Worker 0 house 1 episode 24/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:55:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:55:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:55:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:55:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:55:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.768s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:55:26 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.489[m] 79.614[deg]	[grasp_sample.py: 539]
-05/10 03:55:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:55:28 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:55:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:55:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:55:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:55:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:55:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:55:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:55:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:55:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:55:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046142m	[env.py: 870]
-05/10 03:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:55:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96218726  0.16154539  0.04614162] yaw=146.1deg	[env.py: 1019]
-05/10 03:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93269221  0.64727884  0.04614162] yaw=-174.1deg	[env.py: 1019]
-05/10 03:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98659977  0.59693036  0.04614162] yaw=-177.6deg	[env.py: 1019]
-05/10 03:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:55:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.8ms, total=196.8ms	[env.py: 1075]
-05/10 03:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.962, 0.162, 0.046)	[env.py: 1079]
-05/10 03:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.1 deg	[env.py: 1082]
-05/10 03:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
-05/10 03:55:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:55:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:55:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:55:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:55:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:55:30 INFO: [Worker 0] Worker 0 house 1 episode 25/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:55:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:55:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:55:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:55:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:55:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.555s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:55:30 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.387[m] 94.168[deg]	[grasp_sample.py: 539]
-05/10 03:55:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:55:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:55:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:55:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:55:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:56:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:56:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:56:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:56:39 INFO: [Worker 0] Worker 0 house 1 episode 24 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:56:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:56:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:56:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:56:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:56:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:56:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:56:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:56:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:56:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:56:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:56:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:56:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:56:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:57:00 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.510s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:57:00 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.321[deg]	[grasp_sample.py: 539]
-05/10 03:57:01 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:57:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:57:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:57:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:57:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:57:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:57:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:57:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:57:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:57:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:57:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:57:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013029m	[env.py: 870]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:57:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.60381797  0.44851018 -0.01302853] yaw=169.8deg	[env.py: 1019]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90093754  0.2255959  -0.01302853] yaw=167.6deg	[env.py: 1019]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02566577  0.1305708  -0.01302853] yaw=149.0deg	[env.py: 1019]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:57:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.5ms, total=142.5ms	[env.py: 1075]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.604, 0.449, -0.013)	[env.py: 1079]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg	[env.py: 1082]
-05/10 03:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
-05/10 03:57:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:57:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:57:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:57:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:57:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:57:03 INFO: [Worker 0] Worker 0 house 1 episode 25/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:57:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:57:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:57:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:57:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:57:04 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:57:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 03:57:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:57:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:57:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.408s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:57:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.708[m] 100.409[deg]	[grasp_sample.py: 539]
-05/10 03:57:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:57:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:57:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:57:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:57:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:57:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:57:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:57:11 INFO: [Worker 0] Worker 0 house 1 episode 22 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:57:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:57:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:57:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:57:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 03:57:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:57:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:57:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:57:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:57:18 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.785s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:57:18 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.226[deg]	[grasp_sample.py: 539]
-05/10 03:57:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:57:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:57:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.33s (batch: 4.01s, save: 10.33s)	[pipeline.py: 300]
-05/10 03:57:19 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.56s:
-  episode_total: mean=196.60s, total=196.60s, count=1, min=196597.0ms, max=196597.0ms
-  sensor_polling: mean=479.0ms, total=143.71s, count=300, min=402.2ms, max=835.6ms
-  save_trajectories: mean=10.33s, total=10.33s, count=1, min=10325.6ms, max=10325.6ms
-  physics_step: mean=23.6ms, total=7.09s, count=300, min=15.7ms, max=58.6ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4006.3ms, max=4006.3ms
-  task_sampling: mean=560.5ms, total=560.5ms, count=1, min=560.5ms, max=560.5ms
-  task_specific_sample: mean=556.6ms, total=556.6ms, count=1, min=556.6ms, max=556.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=471.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:57:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:57:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:57:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:57:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:57:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:57:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:57:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:57:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:57:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:57:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:57:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:57:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:57:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:57:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029052m	[env.py: 870]
-05/10 03:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:57:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92900519  0.86154205  0.02905231] yaw=-149.2deg	[env.py: 1019]
-05/10 03:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.680871    0.24440372  0.02905231] yaw=174.3deg	[env.py: 1019]
-05/10 03:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04231534  0.20802947  0.02905231] yaw=162.2deg	[env.py: 1019]
-05/10 03:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:57:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.0ms, total=144.0ms	[env.py: 1075]
-05/10 03:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.862, 0.029)	[env.py: 1079]
-05/10 03:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.2 deg	[env.py: 1082]
-05/10 03:57:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
-05/10 03:57:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:57:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:57:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:57:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:57:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:57:21 INFO: [Worker 0] Worker 0 house 1 episode 25/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:57:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:57:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:57:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:57:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:57:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:57:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.582s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:57:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.459[m] 93.953[deg]	[grasp_sample.py: 539]
-05/10 03:57:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:57:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:57:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:57:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:57:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:57:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:57:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 03:57:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:57:34 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 03:57:34 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 03:57:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 03:57:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:57:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 03:57:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 03:57:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.14s (batch: 4.48s, save: 8.66s)	[pipeline.py: 300]
-05/10 03:57:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:57:48 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.86s:
-  episode_total: mean=117.35s, total=352.06s, count=3, min=267.1ms, max=193860.4ms
-  sensor_polling: mean=472.1ms, total=278.53s, count=590, min=387.5ms, max=839.6ms
-  physics_step: mean=23.9ms, total=14.10s, count=590, min=13.7ms, max=79.7ms
-  save_trajectories: mean=8.66s, total=8.66s, count=1, min=8659.2ms, max=8659.2ms
-  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4481.8ms, max=4481.8ms
-  task_specific_sample: mean=373.2ms, total=1.12s, count=3, min=261.8ms, max=451.7ms
-  task_sampling: mean=432.1ms, total=864.1ms, count=2, min=409.2ms, max=454.9ms
-  task_sampling_failed: mean=267.1ms, total=267.1ms, count=1, min=267.1ms, max=267.1ms
-  scene_randomize: mean=1.2ms, total=3.6ms, count=3, min=1.1ms, max=1.2ms
-  mj_forward_sync: mean=384.7us, total=1.2ms, count=3, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 03:57:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:57:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:57:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:57:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:57:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:57:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:57:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:57:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:57:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:57:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:57:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.033m, effective arm-mount z=0.827m (base_body_z=-0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032541m	[env.py: 870]
-05/10 03:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:57:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 129.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76653511  0.57572015 -0.03254101] yaw=-168.4deg	[env.py: 1019]
-05/10 03:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:57:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.6ms, total=219.7ms	[env.py: 1075]
-05/10 03:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.767, 0.576, -0.033)	[env.py: 1079]
-05/10 03:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.4 deg	[env.py: 1082]
-05/10 03:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
-05/10 03:57:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:57:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:57:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:57:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:57:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:57:50 INFO: [Worker 0] Worker 0 house 1 episode 23/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:57:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:57:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:57:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:57:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:57:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:57:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.484[m] 87.115[deg]	[grasp_sample.py: 539]
-05/10 03:57:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:57:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:57:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:57:52 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 03:57:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 03:57:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:57:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:57:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 74 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:57:53 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.547s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:57:53 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.027[m] 3.378[deg]	[grasp_sample.py: 539]
-05/10 03:57:55 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 03:57:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 03:57:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 03:57:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 03:57:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:57:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:57:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 03:57:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 03:57:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 03:57:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 03:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 03:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 03:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002857m	[env.py: 870]
-05/10 03:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 03:57:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 03:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 03:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85360273  0.9070381  -0.00285717] yaw=-147.3deg	[env.py: 1019]
-05/10 03:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 03:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 03:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.14794662  0.98192837 -0.00285717] yaw=-143.2deg	[env.py: 1019]
-05/10 03:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 03:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92018728  0.88699505 -0.00285717] yaw=-160.9deg	[env.py: 1019]
-05/10 03:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 03:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 03:57:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.6ms, total=113.6ms	[env.py: 1075]
-05/10 03:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.854, 0.907, -0.003)	[env.py: 1079]
-05/10 03:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg	[env.py: 1082]
-05/10 03:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m	[env.py: 1086]
-05/10 03:57:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 03:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 03:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 03:57:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 03:57:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 03:57:57 INFO: [Worker 0] Worker 0 house 1 episode 26/240 collected=0/40	[pipeline.py: 1044]
-05/10 03:57:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 03:57:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 03:57:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 03:57:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 03:57:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.528s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 03:57:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.558[m] 100.200[deg]	[grasp_sample.py: 539]
-05/10 03:57:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 03:57:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 03:57:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:58:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:58:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:58:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:58:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:58:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:58:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:58:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:58:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:58:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:58:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:59:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 03:59:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 03:59:34 INFO: [Worker 0] Worker 0 house 1 episode 25 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 03:59:55 INFO: [Worker 0] Worker 0 house 1 episode 25 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:00:00 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:00:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 04:00:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:00:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:00:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:00:12 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.20s (batch: 4.33s, save: 7.87s)	[pipeline.py: 300]
-05/10 04:00:13 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=1.20s:
-  episode_total: mean=171.52s, total=514.56s, count=3, min=160502.5ms, max=189820.9ms
-  sensor_polling: mean=468.4ms, total=400.05s, count=854, min=375.7ms, max=858.8ms
-  physics_step: mean=22.4ms, total=19.17s, count=854, min=13.8ms, max=72.9ms
-  save_trajectories: mean=7.87s, total=7.87s, count=1, min=7873.4ms, max=7873.4ms
-  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4328.6ms, max=4328.6ms
-  task_sampling: mean=400.7ms, total=1.20s, count=3, min=368.3ms, max=450.8ms
-  task_specific_sample: mean=397.3ms, total=1.19s, count=3, min=364.9ms, max=448.5ms
-  scene_randomize: mean=1.5ms, total=4.6ms, count=3, min=1.2ms, max=2.0ms
-  mj_forward_sync: mean=432.6us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=15.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:00:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:00:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:00:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:00:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:00:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:00:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:00:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:00:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:00:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:00:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:00:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002565m	[env.py: 870]
-05/10 04:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:00:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:00:14 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:00:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 04:00:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.11992389  0.95852749 -0.00256458] yaw=-150.9deg	[env.py: 1019]
-05/10 04:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89388105  0.64201609 -0.00256458] yaw=-170.7deg	[env.py: 1019]
-05/10 04:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07843306  1.04163101 -0.00256458] yaw=-133.1deg	[env.py: 1019]
-05/10 04:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:00:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.0ms, total=106.0ms	[env.py: 1075]
-05/10 04:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.120, 0.959, -0.003)	[env.py: 1079]
-05/10 04:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.9 deg	[env.py: 1082]
-05/10 04:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.753m	[env.py: 1086]
-05/10 04:00:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:00:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:00:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:00:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:00:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:00:14 INFO: [Worker 0] Worker 0 house 1 episode 26/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:00:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:00:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:00:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:00:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:00:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.445s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:00:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.292[m] 84.676[deg]	[grasp_sample.py: 539]
-05/10 04:00:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:00:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:00:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:00:24 INFO: [Worker 0] Worker 0 house 1 episode 23 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:00:26 INFO: [Worker 0] Worker 0 house 1 episode 26 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:00:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:00:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:00:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.86s (batch: 3.90s, save: 8.95s)	[pipeline.py: 300]
-05/10 04:00:27 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.43s:
-  episode_total: mean=187.00s, total=187.00s, count=1, min=187000.3ms, max=187000.3ms
-  sensor_polling: mean=477.9ms, total=143.36s, count=300, min=397.1ms, max=898.9ms
-  save_trajectories: mean=8.95s, total=8.95s, count=1, min=8952.9ms, max=8952.9ms
-  physics_step: mean=22.7ms, total=6.82s, count=300, min=17.0ms, max=77.6ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3904.4ms, max=3904.4ms
-  task_sampling: mean=430.8ms, total=430.8ms, count=1, min=430.8ms, max=430.8ms
-  task_specific_sample: mean=426.9ms, total=426.9ms, count=1, min=426.9ms, max=426.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=464.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:00:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:00:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:00:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:00:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:00:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:00:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:00:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:00:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:00:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036045m	[env.py: 870]
-05/10 04:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:00:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95855318  0.94864771  0.03604454] yaw=-142.6deg	[env.py: 1019]
-05/10 04:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69815809  0.47389357  0.03604454] yaw=171.5deg	[env.py: 1019]
-05/10 04:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.17305503  0.97928809  0.03604454] yaw=-142.0deg	[env.py: 1019]
-05/10 04:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:00:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.6ms, total=108.6ms	[env.py: 1075]
-05/10 04:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.949, 0.036)	[env.py: 1079]
-05/10 04:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.6 deg	[env.py: 1082]
-05/10 04:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
-05/10 04:00:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:00:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:00:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:00:29 INFO: [Worker 0] Worker 0 house 1 episode 26/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:00:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:00:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:00:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:00:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:00:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.585s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:00:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.442[m] 92.567[deg]	[grasp_sample.py: 539]
-05/10 04:00:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:00:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:00:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:00:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:00:44 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:00:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 04:00:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:00:47 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:00:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 04:00:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:00:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:00:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:00:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:00:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:00:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.47s (batch: 4.05s, save: 7.42s)	[pipeline.py: 300]
-05/10 04:00:56 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.47s:
-  episode_total: mean=186.33s, total=186.33s, count=1, min=186332.9ms, max=186332.9ms
-  sensor_polling: mean=475.5ms, total=142.66s, count=300, min=402.7ms, max=916.0ms
-  save_trajectories: mean=7.42s, total=7.42s, count=1, min=7417.4ms, max=7417.4ms
-  physics_step: mean=22.3ms, total=6.70s, count=300, min=13.8ms, max=55.6ms
-  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4049.8ms, max=4049.8ms
-  task_sampling: mean=470.1ms, total=470.1ms, count=1, min=470.1ms, max=470.1ms
-  task_specific_sample: mean=466.8ms, total=466.8ms, count=1, min=466.8ms, max=466.8ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=373.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:00:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:00:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:00:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:00:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:00:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:00:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:00:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017585m	[env.py: 870]
-05/10 04:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:00:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96296087  0.15648555 -0.01758457] yaw=148.4deg	[env.py: 1019]
-05/10 04:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64475452  0.74644304 -0.01758457] yaw=-167.9deg	[env.py: 1019]
-05/10 04:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65827555  0.46908891 -0.01758457] yaw=178.4deg	[env.py: 1019]
-05/10 04:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:00:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.5ms, total=70.5ms	[env.py: 1075]
-05/10 04:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.963, 0.156, -0.018)	[env.py: 1079]
-05/10 04:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.4 deg	[env.py: 1082]
-05/10 04:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
-05/10 04:00:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:00:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:00:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:00:58 INFO: [Worker 0] Worker 0 house 1 episode 24/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:00:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:00:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:00:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:00:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:00:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.720s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:00:59 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.428[m] 102.179[deg]	[grasp_sample.py: 539]
-05/10 04:00:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:00:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:00:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:00:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.01s (batch: 4.02s, save: 7.98s)	[pipeline.py: 300]
-05/10 04:00:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:00:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:01:00 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=1.80s:
-  episode_total: mean=113.94s, total=455.75s, count=4, min=2794.4ms, max=183430.5ms
-  sensor_polling: mean=467.9ms, total=341.13s, count=729, min=390.3ms, max=814.2ms
-  physics_step: mean=21.5ms, total=15.68s, count=729, min=12.1ms, max=73.1ms
-  save_trajectories: mean=7.98s, total=7.98s, count=1, min=7982.8ms, max=7982.8ms
-  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4023.8ms, max=4023.8ms
-  task_sampling: mean=449.2ms, total=1.80s, count=4, min=408.5ms, max=534.6ms
-  task_specific_sample: mean=445.8ms, total=1.78s, count=4, min=405.5ms, max=531.6ms
-  scene_randomize: mean=1.8ms, total=7.2ms, count=4, min=1.3ms, max=2.8ms
-  mj_forward_sync: mean=500.7us, total=2.0ms, count=4, min=0.4ms, max=0.6ms
-  policy_setup: mean=16.2us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:01:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:01:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:01:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:01:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:01:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:01:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:01:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:01:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:01:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046521m	[env.py: 870]
-05/10 04:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:01:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09117252  0.97810516 -0.04652072] yaw=-150.8deg	[env.py: 1019]
-05/10 04:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78162624  0.56086282 -0.04652072] yaw=-184.4deg	[env.py: 1019]
-05/10 04:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78884678  0.77321883 -0.04652072] yaw=-172.5deg	[env.py: 1019]
-05/10 04:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:01:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=83.5ms, total=83.6ms	[env.py: 1075]
-05/10 04:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.091, 0.978, -0.047)	[env.py: 1079]
-05/10 04:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.8 deg	[env.py: 1082]
-05/10 04:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.787m	[env.py: 1086]
-05/10 04:01:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:01:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:01:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:01:01 INFO: [Worker 0] Worker 0 house 1 episode 27/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:01:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:01:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:01:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:01:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:01:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:01:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.436[m] 95.923[deg]	[grasp_sample.py: 539]
-05/10 04:01:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:01:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:01:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:01:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:01:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:01:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:01:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:01:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:01:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:01:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:02:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:02:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:02:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:02:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:02:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:02:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:02:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:02:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:02:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:02:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:02:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:02:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:02:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:02:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:02:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:02:46 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.791s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:02:46 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.347[deg]	[grasp_sample.py: 539]
-05/10 04:02:47 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 04:02:47 WARNING: [Worker 0] Asset Fridge_7_upside_down (hash: a079a499003c75f24f76325cf35d2986) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
-05/10 04:02:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:02:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:02:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:02:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:02:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:02:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:02:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:02:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:02:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003582m	[env.py: 870]
-05/10 04:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:02:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.11388221  0.96450736 -0.00358172] yaw=-145.1deg	[env.py: 1019]
-05/10 04:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:02:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=382.5ms, total=382.6ms	[env.py: 1075]
-05/10 04:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.114, 0.965, -0.004)	[env.py: 1079]
-05/10 04:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.1 deg	[env.py: 1082]
-05/10 04:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.761m	[env.py: 1086]
-05/10 04:02:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:02:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:02:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:02:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:02:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:02:50 INFO: [Worker 0] Worker 0 house 1 episode 27/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:02:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:02:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:02:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:02:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:02:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.704s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:02:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.331[m] 89.624[deg]	[grasp_sample.py: 539]
-05/10 04:02:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:02:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:02:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:03:04 INFO: [Worker 0] Worker 0 house 1 episode 26 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:03:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:03:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:03:27 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:03:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 04:03:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:03:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:03:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:03:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:03:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:03:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:03:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:03:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:03:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:03:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:03:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:03:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:03:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:03:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:03:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:03:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:03:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:03:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:03:37 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.255s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:03:37 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.293[deg]	[grasp_sample.py: 539]
-05/10 04:03:38 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 04:03:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:03:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:03:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:03:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.74s (batch: 3.80s, save: 7.95s)	[pipeline.py: 300]
-05/10 04:03:39 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.36s:
-  episode_total: mean=190.04s, total=190.04s, count=1, min=190040.2ms, max=190040.2ms
-  sensor_polling: mean=477.7ms, total=143.32s, count=300, min=399.2ms, max=911.6ms
-  save_trajectories: mean=7.95s, total=7.95s, count=1, min=7946.5ms, max=7946.5ms
-  physics_step: mean=22.5ms, total=6.74s, count=300, min=17.1ms, max=77.8ms
-  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3795.0ms, max=3795.0ms
-  task_sampling: mean=363.2ms, total=363.2ms, count=1, min=363.2ms, max=363.2ms
-  task_specific_sample: mean=359.9ms, total=359.9ms, count=1, min=359.9ms, max=359.9ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=375.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:03:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:03:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:03:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:03:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:03:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:03:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:03:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:03:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:03:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040096m	[env.py: 870]
-05/10 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:03:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69899994  0.47611139  0.04009608] yaw=179.0deg	[env.py: 1019]
-05/10 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93491702  0.76778168  0.04009608] yaw=-163.7deg	[env.py: 1019]
-05/10 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9712257   0.30354915  0.04009608] yaw=174.4deg	[env.py: 1019]
-05/10 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:03:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.5ms, total=98.5ms	[env.py: 1075]
-05/10 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.699, 0.476, 0.040)	[env.py: 1079]
-05/10 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.0 deg	[env.py: 1082]
-05/10 04:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m	[env.py: 1086]
-05/10 04:03:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:03:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:03:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:03:40 INFO: [Worker 0] Worker 0 house 1 episode 25/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:03:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:03:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:03:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:03:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:03:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:03:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.573[m] 90.532[deg]	[grasp_sample.py: 539]
-05/10 04:03:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:03:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:03:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:03:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:03:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:03:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:03:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:03:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:03:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:03:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:03:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:03:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:03:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002242m	[env.py: 870]
-05/10 04:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:03:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12119536  1.15646038  0.00224165] yaw=-137.7deg	[env.py: 1019]
-05/10 04:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.918607    1.02261945  0.00224165] yaw=-148.2deg	[env.py: 1019]
-05/10 04:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93471982  0.51194166  0.00224165] yaw=-170.3deg	[env.py: 1019]
-05/10 04:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:03:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=75.4ms, total=75.4ms	[env.py: 1075]
-05/10 04:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.121, 1.156, 0.002)	[env.py: 1079]
-05/10 04:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.7 deg	[env.py: 1082]
-05/10 04:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
-05/10 04:03:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:03:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:03:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:03:41 INFO: [Worker 0] Worker 0 house 1 episode 27/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:03:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:03:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:03:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:03:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:03:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:03:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.410s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:03:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.474[m] 86.673[deg]	[grasp_sample.py: 539]
-05/10 04:03:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:03:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:03:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:03:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:03:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:03:44 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 04:03:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:03:45 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.450s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:03:45 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.358[deg]	[grasp_sample.py: 539]
-05/10 04:03:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:03:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:03:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:03:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:03:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:03:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:03:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:03:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:03:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040700m	[env.py: 870]
-05/10 04:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:03:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.77759781  0.6559078   0.04069987] yaw=-164.0deg	[env.py: 1019]
-05/10 04:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.94462049  0.34387707  0.04069987] yaw=175.5deg	[env.py: 1019]
-05/10 04:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:03:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=270.6ms, total=270.6ms	[env.py: 1075]
-05/10 04:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.778, 0.656, 0.041)	[env.py: 1079]
-05/10 04:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.0 deg	[env.py: 1082]
-05/10 04:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
-05/10 04:03:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:03:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:03:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:03:46 INFO: [Worker 0] Worker 0 house 1 episode 28/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:03:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:03:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:03:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:03:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:03:46 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 04:03:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.579s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:03:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.508[m] 89.248[deg]	[grasp_sample.py: 539]
-05/10 04:03:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:03:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:03:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:03:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:03:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:03:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:03:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:03:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:03:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:03:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:03:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:03:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:03:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:03:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007101m	[env.py: 870]
-05/10 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:03:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02841511  0.89957818  0.00710072] yaw=-137.0deg	[env.py: 1019]
-05/10 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86408031  1.19265098  0.00710072] yaw=-139.1deg	[env.py: 1019]
-05/10 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.05483239  1.05498159  0.00710072] yaw=-135.8deg	[env.py: 1019]
-05/10 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:03:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.7ms, total=166.7ms	[env.py: 1075]
-05/10 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.028, 0.900, 0.007)	[env.py: 1079]
-05/10 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.0 deg	[env.py: 1082]
-05/10 04:03:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.793m	[env.py: 1086]
-05/10 04:03:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:03:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:03:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:03:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:03:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:03:48 INFO: [Worker 0] Worker 0 house 1 episode 28/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:03:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:03:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:03:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:03:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:03:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.506s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:03:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.401[m] 94.218[deg]	[grasp_sample.py: 539]
-05/10 04:03:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:03:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:03:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:04:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:04:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:04:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:04:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:04:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:04:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:04:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:04:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:04:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:05:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:05:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:05:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:05:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:05:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:05:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:05:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:05:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:05:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:05:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:05:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:05:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:05:22 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.338s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:05:22 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.350[deg]	[grasp_sample.py: 539]
-05/10 04:05:24 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 04:05:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:05:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:05:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:05:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:05:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:05:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:05:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035368m	[env.py: 870]
-05/10 04:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:05:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04203875  1.30823539  0.0353679 ] yaw=-120.3deg	[env.py: 1019]
-05/10 04:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02464497  1.18115242  0.0353679 ] yaw=-130.9deg	[env.py: 1019]
-05/10 04:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68489399  0.10669194  0.0353679 ] yaw=149.4deg	[env.py: 1019]
-05/10 04:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:05:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=312.7ms, total=312.8ms	[env.py: 1075]
-05/10 04:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.042, 1.308, 0.035)	[env.py: 1079]
-05/10 04:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.3 deg	[env.py: 1082]
-05/10 04:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m	[env.py: 1086]
-05/10 04:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:05:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:05:27 INFO: [Worker 0] Worker 0 house 1 episode 28/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:05:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:05:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:05:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:05:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:05:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.158s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 04:05:29 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 04:05:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:05:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:05:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:05:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:05:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:05:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:05:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:05:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:05:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014108m	[env.py: 870]
-05/10 04:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:05:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89118245  0.97201706  0.01410841] yaw=-141.3deg	[env.py: 1019]
-05/10 04:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7020852   0.46314607  0.01410841] yaw=169.4deg	[env.py: 1019]
-05/10 04:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03313213  0.20306778  0.01410841] yaw=163.7deg	[env.py: 1019]
-05/10 04:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:05:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.5ms, total=189.5ms	[env.py: 1075]
-05/10 04:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.891, 0.972, 0.014)	[env.py: 1079]
-05/10 04:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.3 deg	[env.py: 1082]
-05/10 04:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
-05/10 04:05:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:05:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:05:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:05:31 INFO: [Worker 0] Worker 0 house 1 episode 29/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:05:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:05:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:05:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:05:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:05:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.536s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:05:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.547[m] 92.760[deg]	[grasp_sample.py: 539]
-05/10 04:05:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:05:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:05:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:06:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:06:13 INFO: [Worker 0] Worker 0 house 1 episode 25 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:06:20 INFO: [Worker 0] Worker 0 house 1 episode 28 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:06:21 INFO: [Worker 0] Worker 0 house 1 episode 28 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:06:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:06:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:06:38 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:06:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 04:06:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:06:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:06:43 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:06:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 04:06:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:06:45 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:06:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 04:06:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:06:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:06:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:06:50 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.13s (batch: 4.07s, save: 8.07s)	[pipeline.py: 300]
-05/10 04:06:51 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.67s:
-  episode_total: mean=175.81s, total=351.63s, count=2, min=160134.1ms, max=191492.7ms
-  sensor_polling: mean=485.4ms, total=279.57s, count=576, min=393.9ms, max=834.2ms
-  physics_step: mean=22.9ms, total=13.19s, count=576, min=13.4ms, max=70.4ms
-  save_trajectories: mean=8.07s, total=8.07s, count=1, min=8068.5ms, max=8068.5ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4065.4ms, max=4065.4ms
-  task_sampling: mean=333.5ms, total=666.9ms, count=2, min=331.5ms, max=335.4ms
-  task_specific_sample: mean=330.5ms, total=661.0ms, count=2, min=328.7ms, max=332.3ms
-  scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=1.2ms, max=2.0ms
-  mj_forward_sync: mean=388.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:06:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:06:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:06:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:06:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:06:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:06:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:06:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:06:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:06:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005212m	[env.py: 870]
-05/10 04:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:06:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96101975  1.02097807 -0.00521163] yaw=-138.4deg	[env.py: 1019]
-05/10 04:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05821985  0.13357693 -0.00521163] yaw=162.8deg	[env.py: 1019]
-05/10 04:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97684822  0.81817507 -0.00521163] yaw=-144.8deg	[env.py: 1019]
-05/10 04:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:06:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.3ms, total=110.4ms	[env.py: 1075]
-05/10 04:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.961, 1.021, -0.005)	[env.py: 1079]
-05/10 04:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.4 deg	[env.py: 1082]
-05/10 04:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
-05/10 04:06:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:06:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:06:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:06:53 INFO: [Worker 0] Worker 0 house 1 episode 26/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:06:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:06:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:06:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:06:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:06:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:06:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:06:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.89s (batch: 3.84s, save: 8.05s)	[pipeline.py: 300]
-05/10 04:06:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.025s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:06:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.505[m] 90.140[deg]	[grasp_sample.py: 539]
-05/10 04:06:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:06:55 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.87s:
-  episode_total: mean=96.35s, total=192.71s, count=2, min=2867.1ms, max=189841.1ms
-  sensor_polling: mean=481.7ms, total=144.52s, count=300, min=408.4ms, max=825.3ms
-  save_trajectories: mean=8.05s, total=8.05s, count=1, min=8050.2ms, max=8050.2ms
-  physics_step: mean=22.6ms, total=6.79s, count=300, min=14.4ms, max=71.2ms
-  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3844.1ms, max=3844.1ms
-  task_sampling: mean=433.6ms, total=867.3ms, count=2, min=366.2ms, max=501.1ms
-  task_specific_sample: mean=430.2ms, total=860.5ms, count=2, min=362.2ms, max=498.3ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.1ms, max=2.7ms
-  mj_forward_sync: mean=439.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:06:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:06:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:06:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:06:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:06:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:06:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:06:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:06:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:06:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:06:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:06:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037481m	[env.py: 870]
-05/10 04:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:06:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77890637  0.25470866  0.03748139] yaw=156.9deg	[env.py: 1019]
-05/10 04:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82780925  0.90958656  0.03748139] yaw=-143.4deg	[env.py: 1019]
-05/10 04:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.66349835  0.78253903  0.03748139] yaw=-161.7deg	[env.py: 1019]
-05/10 04:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:06:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.9ms, total=152.9ms	[env.py: 1075]
-05/10 04:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.255, 0.037)	[env.py: 1079]
-05/10 04:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.9 deg	[env.py: 1082]
-05/10 04:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
-05/10 04:06:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:06:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:06:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:06:57 INFO: [Worker 0] Worker 0 house 1 episode 29/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:06:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:06:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:06:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:06:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:06:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.636s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:06:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.541[m] 91.592[deg]	[grasp_sample.py: 539]
-05/10 04:06:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:06:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:06:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:06:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.44s (batch: 3.96s, save: 9.49s)	[pipeline.py: 300]
-05/10 04:06:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:06:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:06:59 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.93s:
-  episode_total: mean=177.96s, total=355.92s, count=2, min=165140.4ms, max=190777.0ms
-  sensor_polling: mean=477.1ms, total=283.40s, count=594, min=388.7ms, max=952.5ms
-  physics_step: mean=22.8ms, total=13.56s, count=594, min=14.1ms, max=87.1ms
-  save_trajectories: mean=9.49s, total=9.49s, count=1, min=9486.0ms, max=9486.0ms
-  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3957.4ms, max=3957.4ms
-  task_sampling: mean=463.2ms, total=926.4ms, count=2, min=336.1ms, max=590.3ms
-  task_specific_sample: mean=460.1ms, total=920.2ms, count=2, min=332.9ms, max=587.2ms
-  scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=1.2ms, max=2.0ms
-  mj_forward_sync: mean=385.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:07:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:07:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:07:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:07:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:07:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:07:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:07:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038450m	[env.py: 870]
-05/10 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:07:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75482446  0.97094531 -0.03845001] yaw=-151.6deg	[env.py: 1019]
-05/10 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.61237198  0.39548953 -0.03845001] yaw=179.2deg	[env.py: 1019]
-05/10 04:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:07:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=324.8ms, total=324.8ms	[env.py: 1075]
-05/10 04:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.755, 0.971, -0.038)	[env.py: 1079]
-05/10 04:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.6 deg	[env.py: 1082]
-05/10 04:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m	[env.py: 1086]
-05/10 04:07:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:07:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:07:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:07:01 INFO: [Worker 0] Worker 0 house 1 episode 29/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:07:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:07:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:07:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:07:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:07:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.854s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:07:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.603[m] 79.179[deg]	[grasp_sample.py: 539]
-05/10 04:07:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:07:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:07:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:07:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:07:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:07:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:08:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:08:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:08:04 INFO: [Worker 0] Worker 0 house 1 episode 29 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:08:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:08:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:08:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:08:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:08:28 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:08:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 04:08:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:08:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:08:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:08:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.50s (batch: 3.80s, save: 7.71s)	[pipeline.py: 300]
-05/10 04:08:40 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=2.07s:
-  episode_total: mean=125.18s, total=500.71s, count=4, min=2921.9ms, max=189649.9ms
-  sensor_polling: mean=471.4ms, total=400.21s, count=849, min=381.6ms, max=921.2ms
-  physics_step: mean=21.9ms, total=18.59s, count=849, min=13.3ms, max=57.9ms
-  save_trajectories: mean=7.70s, total=7.70s, count=1, min=7705.0ms, max=7705.0ms
-  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3796.1ms, max=3796.1ms
-  task_sampling: mean=517.8ms, total=2.07s, count=4, min=362.2ms, max=630.3ms
-  task_specific_sample: mean=512.7ms, total=2.05s, count=4, min=358.7ms, max=625.1ms
-  scene_randomize: mean=2.2ms, total=8.7ms, count=4, min=1.2ms, max=3.5ms
-  mj_forward_sync: mean=467.5us, total=1.9ms, count=4, min=0.4ms, max=0.6ms
-  policy_setup: mean=15.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:08:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:08:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:08:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:08:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:08:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:08:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:08:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:08:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:08:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:08:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:08:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012904m	[env.py: 870]
-05/10 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:08:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.63600004  0.39789875 -0.01290407] yaw=168.2deg	[env.py: 1019]
-05/10 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.0165453   0.75658794 -0.01290407] yaw=-149.5deg	[env.py: 1019]
-05/10 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:08:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=189.9ms, total=190.0ms	[env.py: 1075]
-05/10 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.636, 0.398, -0.013)	[env.py: 1079]
-05/10 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.2 deg	[env.py: 1082]
-05/10 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m	[env.py: 1086]
-05/10 04:08:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:08:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:08:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:08:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:08:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:08:42 INFO: [Worker 0] Worker 0 house 1 episode 30/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:08:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:08:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:08:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:08:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:08:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:08:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.596[m] 84.149[deg]	[grasp_sample.py: 539]
-05/10 04:08:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:08:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:08:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:09:31 INFO: [Worker 0] Worker 0 house 1 episode 26 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:09:39 INFO: [Worker 0] Worker 0 house 1 episode 29 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:09:42 INFO: [Worker 0] Worker 0 house 1 episode 29 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:09:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:09:55 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:09:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 04:09:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:09:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:09:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:10:03 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:10:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 04:10:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:10:05 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:10:05 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 04:10:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:10:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:10:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:10:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.47s (batch: 4.46s, save: 8.01s)	[pipeline.py: 300]
-05/10 04:10:08 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.38s:
-  episode_total: mean=195.69s, total=195.69s, count=1, min=195685.1ms, max=195685.1ms
-  sensor_polling: mean=484.0ms, total=145.19s, count=300, min=404.6ms, max=825.9ms
-  save_trajectories: mean=8.01s, total=8.01s, count=1, min=8007.4ms, max=8007.4ms
-  physics_step: mean=23.3ms, total=6.98s, count=300, min=16.9ms, max=72.9ms
-  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4458.0ms, max=4458.0ms
-  task_sampling: mean=376.9ms, total=376.9ms, count=1, min=376.9ms, max=376.9ms
-  task_specific_sample: mean=373.5ms, total=373.5ms, count=1, min=373.5ms, max=373.5ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=368.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:10:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:10:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:10:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:10:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:10:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:10:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:10:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:10:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:10:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:10:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:10:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048318m	[env.py: 870]
-05/10 04:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:10:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9788002   0.69902074 -0.04831793] yaw=-172.3deg	[env.py: 1019]
-05/10 04:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84913077  1.0856257  -0.04831793] yaw=-155.8deg	[env.py: 1019]
-05/10 04:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90871134  0.4556722  -0.04831793] yaw=176.3deg	[env.py: 1019]
-05/10 04:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:10:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.7ms, total=214.7ms	[env.py: 1075]
-05/10 04:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.979, 0.699, -0.048)	[env.py: 1079]
-05/10 04:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.3 deg	[env.py: 1082]
-05/10 04:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.755m	[env.py: 1086]
-05/10 04:10:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:10:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:10:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:10:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:10:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:10:10 INFO: [Worker 0] Worker 0 house 1 episode 27/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:10:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:10:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:10:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:10:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:10:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.467s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:10:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.379[m] 94.355[deg]	[grasp_sample.py: 539]
-05/10 04:10:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:10:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:10:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:10:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:10:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:10:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.79s (batch: 3.97s, save: 7.82s)	[pipeline.py: 300]
-05/10 04:10:15 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.60s:
-  episode_total: mean=195.26s, total=195.26s, count=1, min=195263.8ms, max=195263.8ms
-  sensor_polling: mean=483.0ms, total=144.91s, count=300, min=393.7ms, max=878.3ms
-  save_trajectories: mean=7.82s, total=7.82s, count=1, min=7819.4ms, max=7819.4ms
-  physics_step: mean=22.6ms, total=6.78s, count=300, min=16.6ms, max=72.8ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3972.4ms, max=3972.4ms
-  task_sampling: mean=601.6ms, total=601.6ms, count=1, min=601.6ms, max=601.6ms
-  task_specific_sample: mean=597.1ms, total=597.1ms, count=1, min=597.1ms, max=597.1ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=611.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:10:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:10:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:10:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.86s (batch: 3.87s, save: 7.99s)	[pipeline.py: 300]
-05/10 04:10:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:10:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:10:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:10:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:10:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:10:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:10:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:10:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:10:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032710m	[env.py: 870]
-05/10 04:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:10:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84001035  0.13883593  0.0327096 ] yaw=162.2deg	[env.py: 1019]
-05/10 04:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98680506  0.35621257  0.0327096 ] yaw=181.4deg	[env.py: 1019]
-05/10 04:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74951139  0.91204724  0.0327096 ] yaw=-159.9deg	[env.py: 1019]
-05/10 04:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:10:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.2ms, total=90.2ms	[env.py: 1075]
-05/10 04:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.139, 0.033)	[env.py: 1079]
-05/10 04:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.2 deg	[env.py: 1082]
-05/10 04:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
-05/10 04:10:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:10:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:10:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:10:17 INFO: [Worker 0] Worker 0 house 1 episode 30/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:10:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:10:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:10:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:10:18 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.42s:
-  episode_total: mean=200.83s, total=200.83s, count=1, min=200834.0ms, max=200834.0ms
-  sensor_polling: mean=490.4ms, total=147.11s, count=300, min=405.3ms, max=802.5ms
-  save_trajectories: mean=7.99s, total=7.99s, count=1, min=7990.1ms, max=7990.1ms
-  physics_step: mean=24.3ms, total=7.28s, count=300, min=16.0ms, max=69.5ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3869.3ms, max=3869.3ms
-  task_sampling: mean=424.6ms, total=424.6ms, count=1, min=424.6ms, max=424.6ms
-  task_specific_sample: mean=421.3ms, total=421.3ms, count=1, min=421.3ms, max=421.3ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=376.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:10:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:10:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:10:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.472[m] 86.742[deg]	[grasp_sample.py: 539]
-05/10 04:10:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:10:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:10:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:10:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:10:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:10:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:10:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:10:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:10:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:10:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043847m	[env.py: 870]
-05/10 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:10:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.00409078  1.29128547 -0.04384749] yaw=-132.9deg	[env.py: 1019]
-05/10 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.7960934   0.20040081 -0.04384749] yaw=155.7deg	[env.py: 1019]
-05/10 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:10:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.4ms, total=219.5ms	[env.py: 1075]
-05/10 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.004, 1.291, -0.044)	[env.py: 1079]
-05/10 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.9 deg	[env.py: 1082]
-05/10 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m	[env.py: 1086]
-05/10 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:10:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:10:20 INFO: [Worker 0] Worker 0 house 1 episode 30/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:10:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:10:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:10:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:10:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:10:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.764s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 04:10:21 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 04:10:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:10:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:10:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:10:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:10:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:10:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:10:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:10:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:10:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:10:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:10:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000357m	[env.py: 870]
-05/10 04:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:10:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01029351e+00  3.31325366e-01  3.57033873e-04] yaw=166.8deg	[env.py: 1019]
-05/10 04:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 124.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-9.05673792e-01  1.42497935e-01  3.57033873e-04] yaw=157.3deg	[env.py: 1019]
-05/10 04:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:10:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=658.3ms, total=658.4ms	[env.py: 1075]
-05/10 04:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.010, 0.331, 0.000)	[env.py: 1079]
-05/10 04:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.8 deg	[env.py: 1082]
-05/10 04:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.708m	[env.py: 1086]
-05/10 04:10:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:10:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:10:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:10:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:10:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:10:24 INFO: [Worker 0] Worker 0 house 1 episode 31/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:10:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:10:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:10:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:10:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:10:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.791s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:10:25 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.327[m] 103.035[deg]	[grasp_sample.py: 539]
-05/10 04:10:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:10:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:10:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:10:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:10:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:10:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:11:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:11:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:11:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:11:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:11:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:11:16 INFO: [Worker 0] Worker 0 house 1 episode 30 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:11:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:11:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:11:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:11:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:11:39 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:11:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 04:11:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:11:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:11:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:11:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:11:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:11:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:11:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:11:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:11:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:11:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:11:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:11:46 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.405s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:11:46 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.370[deg]	[grasp_sample.py: 539]
-05/10 04:11:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:11:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:11:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:11:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:11:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:11:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:11:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:11:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.90s (batch: 4.36s, save: 7.54s)	[pipeline.py: 300]
-05/10 04:11:51 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=0.46s:
-  episode_total: mean=189.41s, total=189.41s, count=1, min=189408.0ms, max=189408.0ms
-  sensor_polling: mean=475.7ms, total=142.71s, count=300, min=371.2ms, max=833.6ms
-  save_trajectories: mean=7.54s, total=7.54s, count=1, min=7543.6ms, max=7543.6ms
-  physics_step: mean=23.4ms, total=7.01s, count=300, min=15.8ms, max=59.2ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4359.6ms, max=4359.6ms
-  task_sampling: mean=463.3ms, total=463.3ms, count=1, min=463.3ms, max=463.3ms
-  task_specific_sample: mean=459.1ms, total=459.1ms, count=1, min=459.1ms, max=459.1ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=513.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:11:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:11:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:11:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:11:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:11:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:11:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:11:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:11:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:11:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:11:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:11:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:11:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015929m	[env.py: 870]
-05/10 04:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:11:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8253607   0.95295388  0.01592913] yaw=-150.4deg	[env.py: 1019]
-05/10 04:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 126.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.62216932  0.6801146   0.01592913] yaw=-162.7deg	[env.py: 1019]
-05/10 04:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.64522805  0.24373542  0.01592913] yaw=170.0deg	[env.py: 1019]
-05/10 04:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:11:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.5ms, total=158.5ms	[env.py: 1075]
-05/10 04:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.825, 0.953, 0.016)	[env.py: 1079]
-05/10 04:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.4 deg	[env.py: 1082]
-05/10 04:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m	[env.py: 1086]
-05/10 04:11:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:11:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:11:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:11:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:11:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:11:53 INFO: [Worker 0] Worker 0 house 1 episode 31/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:11:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:11:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:11:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:11:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:11:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:11:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:11:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.350s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:11:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.620[m] 97.688[deg]	[grasp_sample.py: 539]
-05/10 04:11:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:11:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:11:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:11:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:11:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:12:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:12:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:12:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:12:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:12:00 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.404s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:12:00 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.361[deg]	[grasp_sample.py: 539]
-05/10 04:12:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:12:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:12:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:12:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:12:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:12:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:12:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:12:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:12:19 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.384s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:12:19 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.361[deg]	[grasp_sample.py: 539]
-05/10 04:12:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:12:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:12:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:12:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:12:34 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 04:12:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:34 INFO: [Worker 0] Worker 0 house 1 episode 31 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 04:12:34 WARNING: [Worker 0] Asset Fridge_7_upside_down (hash: a079a499003c75f24f76325cf35d2986) dynamically blacklisted after 10 failures: rollout failed (e.g., IK failure)	[task_sampler.py: 396]
-05/10 04:12:34 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=False episode_total=1.40s:
-  episode_total: mean=66.60s, total=133.19s, count=2, min=2383.4ms, max=130810.2ms
-  sensor_polling: mean=472.7ms, total=78.47s, count=166, min=414.0ms, max=740.0ms
-  physics_step: mean=21.0ms, total=3.49s, count=166, min=12.0ms, max=46.3ms
-  task_sampling: mean=699.5ms, total=1.40s, count=2, min=477.3ms, max=921.8ms
-  task_specific_sample: mean=695.8ms, total=1.39s, count=2, min=473.6ms, max=918.1ms
-  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.4ms, max=2.5ms
-  mj_forward_sync: mean=472.3us, total=0.9ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=18.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:12:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:12:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:12:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:12:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:12:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:12:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:12:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:12:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:12:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019681m	[env.py: 870]
-05/10 04:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:12:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62627794  0.51834049  0.01968093] yaw=-188.7deg	[env.py: 1019]
-05/10 04:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09889095  1.22414877  0.01968093] yaw=-138.8deg	[env.py: 1019]
-05/10 04:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.64730462  0.36015886  0.01968093] yaw=165.2deg	[env.py: 1019]
-05/10 04:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:12:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=535.9ms, total=535.9ms	[env.py: 1075]
-05/10 04:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.626, 0.518, 0.020)	[env.py: 1079]
-05/10 04:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.7 deg	[env.py: 1082]
-05/10 04:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
-05/10 04:12:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:12:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:12:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:12:37 INFO: [Worker 0] Worker 0 house 1 episode 32/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:12:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:12:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:12:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:12:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:12:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.698s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:12:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.664[m] 98.960[deg]	[grasp_sample.py: 539]
-05/10 04:12:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:12:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:12:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:12:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:12:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:12:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:12:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:12:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:12:40 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.363s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:12:40 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.582[deg]	[grasp_sample.py: 539]
-05/10 04:12:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:12:41 INFO: [Worker 0] Worker 0 house 1 episode 27 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:12:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:12:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:12:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:12:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:13:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:13:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:13:06 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:13:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 04:13:06 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/10 04:13:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:13:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:13:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:13:13 INFO: [Worker 0] Worker 0 house 1 episode 30 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:13:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:13:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:13:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.17s (batch: 4.12s, save: 8.05s)	[pipeline.py: 300]
-05/10 04:13:19 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.47s:
-  episode_total: mean=189.55s, total=189.55s, count=1, min=189546.5ms, max=189546.5ms
-  sensor_polling: mean=470.8ms, total=140.77s, count=299, min=398.1ms, max=791.8ms
-  save_trajectories: mean=8.05s, total=8.05s, count=1, min=8054.0ms, max=8054.0ms
-  physics_step: mean=22.2ms, total=6.65s, count=299, min=13.8ms, max=69.7ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4116.9ms, max=4116.9ms
-  task_sampling: mean=473.5ms, total=473.5ms, count=1, min=473.5ms, max=473.5ms
-  task_specific_sample: mean=470.0ms, total=470.0ms, count=1, min=470.0ms, max=470.0ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=583.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:13:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:13:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:13:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:13:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:13:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:13:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:13:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:13:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:13:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:13:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:13:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009046m	[env.py: 870]
-05/10 04:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:13:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97264996  0.43471151 -0.00904562] yaw=175.6deg	[env.py: 1019]
-05/10 04:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65707691  0.74453439 -0.00904562] yaw=-175.5deg	[env.py: 1019]
-05/10 04:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:13:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=518.9ms, total=518.9ms	[env.py: 1075]
-05/10 04:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.973, 0.435, -0.009)	[env.py: 1079]
-05/10 04:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.6 deg	[env.py: 1082]
-05/10 04:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.731m	[env.py: 1086]
-05/10 04:13:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:13:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:13:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:13:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:13:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:13:22 INFO: [Worker 0] Worker 0 house 1 episode 28/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:13:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:13:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:13:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:13:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:13:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.916s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:13:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.280[m] 86.170[deg]	[grasp_sample.py: 539]
-05/10 04:13:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:13:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:13:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:13:37 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:13:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 04:13:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:13:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:13:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:13:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:13:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:13:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.63s (batch: 4.52s, save: 10.11s)	[pipeline.py: 300]
-05/10 04:13:52 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=0.39s:
-  episode_total: mean=215.00s, total=215.00s, count=1, min=214997.9ms, max=214997.9ms
-  sensor_polling: mean=476.3ms, total=142.90s, count=300, min=411.0ms, max=789.9ms
-  save_trajectories: mean=10.11s, total=10.11s, count=1, min=10109.5ms, max=10109.5ms
-  physics_step: mean=23.1ms, total=6.92s, count=300, min=13.9ms, max=60.8ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4518.7ms, max=4518.7ms
-  task_sampling: mean=392.1ms, total=392.1ms, count=1, min=392.1ms, max=392.1ms
-  task_specific_sample: mean=389.1ms, total=389.1ms, count=1, min=389.1ms, max=389.1ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=384.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:13:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:13:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:13:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:13:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:13:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:13:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:13:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:13:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:13:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:13:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020884m	[env.py: 870]
-05/10 04:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:13:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9577202   0.38715311  0.02088415] yaw=172.7deg	[env.py: 1019]
-05/10 04:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89306759  0.08708036  0.02088415] yaw=162.4deg	[env.py: 1019]
-05/10 04:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83597992  0.87200529  0.02088415] yaw=-153.8deg	[env.py: 1019]
-05/10 04:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:13:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.7ms, total=158.7ms	[env.py: 1075]
-05/10 04:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.387, 0.021)	[env.py: 1079]
-05/10 04:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.7 deg	[env.py: 1082]
-05/10 04:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m	[env.py: 1086]
-05/10 04:13:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:13:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:13:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:13:54 INFO: [Worker 0] Worker 0 house 1 episode 31/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:13:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:13:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:13:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:13:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:13:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.414s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:13:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.287[m] 84.109[deg]	[grasp_sample.py: 539]
-05/10 04:13:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:13:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:13:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:13:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:14:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:14:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:14:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:14:30 INFO: [Worker 0] Worker 0 house 1 episode 31 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:14:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:14:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:14:54 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:14:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 04:14:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:15:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:15:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:15:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.08s (batch: 4.51s, save: 8.57s)	[pipeline.py: 300]
-05/10 04:15:08 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.44s:
-  episode_total: mean=195.45s, total=195.45s, count=1, min=195449.4ms, max=195449.4ms
-  sensor_polling: mean=479.1ms, total=143.73s, count=300, min=384.5ms, max=907.6ms
-  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8566.7ms, max=8566.7ms
-  physics_step: mean=23.1ms, total=6.92s, count=300, min=13.1ms, max=81.4ms
-  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4512.7ms, max=4512.7ms
-  task_sampling: mean=440.7ms, total=440.7ms, count=1, min=440.7ms, max=440.7ms
-  task_specific_sample: mean=436.5ms, total=436.5ms, count=1, min=436.5ms, max=436.5ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=511.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:15:08 INFO: [Worker 0] Worker 0 house 1 episode 32 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:15:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:15:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:15:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:15:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:15:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:15:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:15:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:15:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:15:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005658m	[env.py: 870]
-05/10 04:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:15:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68470583  0.25539459 -0.00565802] yaw=160.5deg	[env.py: 1019]
-05/10 04:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89585359  0.75194108 -0.00565802] yaw=-153.8deg	[env.py: 1019]
-05/10 04:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02205449  0.66966571 -0.00565802] yaw=-154.6deg	[env.py: 1019]
-05/10 04:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:15:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=72.8ms, total=72.9ms	[env.py: 1075]
-05/10 04:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.685, 0.255, -0.006)	[env.py: 1079]
-05/10 04:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.5 deg	[env.py: 1082]
-05/10 04:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
-05/10 04:15:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:15:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:15:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:15:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:15:10 INFO: [Worker 0] Worker 0 house 1 episode 32/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:15:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:15:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:15:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:15:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:15:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.763s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:15:11 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.618[m] 92.745[deg]	[grasp_sample.py: 539]
-05/10 04:15:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:15:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:15:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:15:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:15:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:15:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:15:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:15:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:15:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:15:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:15:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:15:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:15:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:15:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:15:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:15:25 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.452s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:15:25 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.401[deg]	[grasp_sample.py: 539]
-05/10 04:15:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:15:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:15:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:15:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:15:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:15:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:15:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:15:32 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:15:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 04:15:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:15:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:15:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:15:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:15:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:15:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:15:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.07s (batch: 4.02s, save: 8.06s)	[pipeline.py: 300]
-05/10 04:15:45 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.80s:
-  episode_total: mean=189.11s, total=189.11s, count=1, min=189111.9ms, max=189111.9ms
-  sensor_polling: mean=467.4ms, total=140.22s, count=300, min=387.4ms, max=859.9ms
-  save_trajectories: mean=8.06s, total=8.06s, count=1, min=8056.4ms, max=8056.4ms
-  physics_step: mean=23.0ms, total=6.90s, count=300, min=16.7ms, max=66.1ms
-  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4017.8ms, max=4017.8ms
-  task_sampling: mean=797.3ms, total=797.3ms, count=1, min=797.3ms, max=797.3ms
-  task_specific_sample: mean=794.5ms, total=794.5ms, count=1, min=794.5ms, max=794.5ms
-  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
-  mj_forward_sync: mean=469.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:15:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:15:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:15:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:15:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:15:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:15:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:15:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:15:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:15:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:15:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:15:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025008m	[env.py: 870]
-05/10 04:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:15:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:15:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06478834  1.23696941 -0.02500842] yaw=-123.1deg	[env.py: 1019]
-05/10 04:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99557132  0.59250634 -0.02500842] yaw=-162.5deg	[env.py: 1019]
-05/10 04:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92486036  0.07054167 -0.02500842] yaw=152.3deg	[env.py: 1019]
-05/10 04:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:15:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=279.5ms, total=279.5ms	[env.py: 1075]
-05/10 04:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.065, 1.237, -0.025)	[env.py: 1079]
-05/10 04:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.1 deg	[env.py: 1082]
-05/10 04:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
-05/10 04:15:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:15:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:15:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:15:47 INFO: [Worker 0] Worker 0 house 1 episode 33/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:15:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:15:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:15:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:15:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:15:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.714s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:15:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.577[m] 97.403[deg]	[grasp_sample.py: 539]
-05/10 04:15:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:15:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:15:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:15:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:15:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:15:56 INFO: [Worker 0] Worker 0 house 1 episode 28 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:16:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:16:15 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:16:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 04:16:15 INFO: [Worker 0] Preparing episode data: 277 timesteps	[save_utils.py: 278]
-05/10 04:16:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:16:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:16:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:16:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:16:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.05s (batch: 3.84s, save: 8.21s)	[pipeline.py: 300]
-05/10 04:16:27 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.83s:
-  episode_total: mean=186.61s, total=186.61s, count=1, min=186611.6ms, max=186611.6ms
-  sensor_polling: mean=483.3ms, total=133.39s, count=276, min=407.2ms, max=852.7ms
-  save_trajectories: mean=8.21s, total=8.21s, count=1, min=8212.6ms, max=8212.6ms
-  physics_step: mean=24.7ms, total=6.83s, count=276, min=16.8ms, max=73.7ms
-  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3837.4ms, max=3837.4ms
-  task_sampling: mean=832.3ms, total=832.3ms, count=1, min=832.3ms, max=832.3ms
-  task_specific_sample: mean=826.6ms, total=826.6ms, count=1, min=826.6ms, max=826.6ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:16:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:16:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:16:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:16:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:16:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:16:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:16:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:16:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:16:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.049406m	[env.py: 870]
-05/10 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:16:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7750417   0.86457167 -0.04940628] yaw=-155.9deg	[env.py: 1019]
-05/10 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98679509  0.94164238 -0.04940628] yaw=-145.5deg	[env.py: 1019]
-05/10 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99695116  0.95375112 -0.04940628] yaw=-148.8deg	[env.py: 1019]
-05/10 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:16:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.3ms, total=119.3ms	[env.py: 1075]
-05/10 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.775, 0.865, -0.049)	[env.py: 1079]
-05/10 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.9 deg	[env.py: 1082]
-05/10 04:16:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m	[env.py: 1086]
-05/10 04:16:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:16:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:16:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:16:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:16:29 INFO: [Worker 0] Worker 0 house 1 episode 29/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:16:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:16:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:16:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:16:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:16:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.543s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:16:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.564[m] 89.927[deg]	[grasp_sample.py: 539]
-05/10 04:16:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:16:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:16:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:16:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:16:49 INFO: [Worker 0] Worker 0 house 1 episode 31 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:16:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:16:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:16:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:16:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:16:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:17:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:17:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:17:13 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:17:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 04:17:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:17:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:17:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:17:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:17:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:17:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:17:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:17:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.71s (batch: 4.54s, save: 9.17s)	[pipeline.py: 300]
-05/10 04:17:28 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.42s:
-  episode_total: mean=214.24s, total=214.24s, count=1, min=214235.6ms, max=214235.6ms
-  sensor_polling: mean=475.9ms, total=142.76s, count=300, min=410.0ms, max=904.3ms
-  save_trajectories: mean=9.17s, total=9.17s, count=1, min=9168.1ms, max=9168.1ms
-  physics_step: mean=23.6ms, total=7.07s, count=300, min=12.0ms, max=50.1ms
-  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4542.9ms, max=4542.9ms
-  task_sampling: mean=422.3ms, total=422.3ms, count=1, min=422.3ms, max=422.3ms
-  task_specific_sample: mean=418.9ms, total=418.9ms, count=1, min=418.9ms, max=418.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=374.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:17:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:17:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:17:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:17:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:17:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:17:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:17:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:17:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:17:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:17:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:17:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.022886m	[env.py: 870]
-05/10 04:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:17:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93154261  0.76738377 -0.02288649] yaw=-156.1deg	[env.py: 1019]
-05/10 04:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04150606  0.86071717 -0.02288649] yaw=-149.5deg	[env.py: 1019]
-05/10 04:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92705254  1.08903197 -0.02288649] yaw=-136.5deg	[env.py: 1019]
-05/10 04:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:17:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.1ms, total=102.1ms	[env.py: 1075]
-05/10 04:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.767, -0.023)	[env.py: 1079]
-05/10 04:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.1 deg	[env.py: 1082]
-05/10 04:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
-05/10 04:17:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:17:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:17:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:17:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:17:30 INFO: [Worker 0] Worker 0 house 1 episode 32/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:17:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:17:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:17:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:17:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:17:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.589s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:17:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.409[m] 96.464[deg]	[grasp_sample.py: 539]
-05/10 04:17:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:17:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:17:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:17:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:17:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:17:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:17:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:17:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:17:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:17:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:17:33 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.522s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:17:33 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.037[m] 0.562[deg]	[grasp_sample.py: 539]
-05/10 04:17:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:17:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:17:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:17:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:17:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:17:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:17:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:17:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:17:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:17:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:17:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:17:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:17:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:17:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:17:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:17:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:17:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:17:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:17:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:17:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:17:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:17:59 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.773s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:17:59 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.112[m] 2.769[deg]	[grasp_sample.py: 539]
-05/10 04:18:00 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 04:18:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:18:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:18:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:18:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:18:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:18:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:18:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:18:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:18:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004118m	[env.py: 870]
-05/10 04:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:18:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65094441  0.79690197 -0.00411844] yaw=-161.9deg	[env.py: 1019]
-05/10 04:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82754374  1.04267649 -0.00411844] yaw=-158.4deg	[env.py: 1019]
-05/10 04:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97376677  0.3847514  -0.00411844] yaw=174.7deg	[env.py: 1019]
-05/10 04:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:18:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.0ms, total=145.0ms	[env.py: 1075]
-05/10 04:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.651, 0.797, -0.004)	[env.py: 1079]
-05/10 04:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.9 deg	[env.py: 1082]
-05/10 04:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
-05/10 04:18:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:18:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:18:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:18:02 INFO: [Worker 0] Worker 0 house 1 episode 34/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:18:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:18:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:18:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:18:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:18:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.186s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:18:05 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.682[m] 96.152[deg]	[grasp_sample.py: 539]
-05/10 04:18:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:18:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:18:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:18:12 INFO: [Worker 0] Worker 0 house 1 episode 32 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:18:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:18:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:18:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:18:40 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:18:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 04:18:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:18:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:18:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:18:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.70s (batch: 4.30s, save: 8.40s)	[pipeline.py: 300]
-05/10 04:18:54 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.39s:
-  episode_total: mean=223.62s, total=223.62s, count=1, min=223622.7ms, max=223622.7ms
-  sensor_polling: mean=475.7ms, total=142.72s, count=300, min=392.3ms, max=822.1ms
-  save_trajectories: mean=8.40s, total=8.40s, count=1, min=8403.5ms, max=8403.5ms
-  physics_step: mean=21.3ms, total=6.40s, count=300, min=16.2ms, max=63.2ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4301.4ms, max=4301.4ms
-  task_sampling: mean=390.8ms, total=390.8ms, count=1, min=390.8ms, max=390.8ms
-  task_specific_sample: mean=387.1ms, total=387.1ms, count=1, min=387.1ms, max=387.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=538.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:18:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:18:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:18:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:18:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:18:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:18:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:18:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:18:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:18:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:18:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:18:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025186m	[env.py: 870]
-05/10 04:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:18:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86734134  1.16210453 -0.02518583] yaw=-133.5deg	[env.py: 1019]
-05/10 04:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74327429  0.78611584 -0.02518583] yaw=-157.8deg	[env.py: 1019]
-05/10 04:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94056237  0.21951178 -0.02518583] yaw=161.4deg	[env.py: 1019]
-05/10 04:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:18:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.1ms, total=116.1ms	[env.py: 1075]
-05/10 04:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.867, 1.162, -0.025)	[env.py: 1079]
-05/10 04:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.5 deg	[env.py: 1082]
-05/10 04:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
-05/10 04:18:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:18:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:18:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:18:56 INFO: [Worker 0] Worker 0 house 1 episode 33/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:18:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:18:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:18:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:18:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:18:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.513s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:18:58 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.667[m] 89.706[deg]	[grasp_sample.py: 539]
-05/10 04:18:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:18:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:18:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:19:06 INFO: [Worker 0] Worker 0 house 1 episode 29 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:19:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:19:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:19:27 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:19:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 04:19:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:19:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:19:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:19:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:19:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.60s (batch: 4.12s, save: 9.48s)	[pipeline.py: 300]
-05/10 04:19:42 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.38s:
-  episode_total: mean=193.06s, total=193.06s, count=1, min=193062.9ms, max=193062.9ms
-  sensor_polling: mean=482.3ms, total=144.69s, count=300, min=403.2ms, max=853.2ms
-  save_trajectories: mean=9.48s, total=9.48s, count=1, min=9478.8ms, max=9478.8ms
-  physics_step: mean=22.7ms, total=6.81s, count=300, min=14.3ms, max=76.8ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4123.5ms, max=4123.5ms
-  task_sampling: mean=378.8ms, total=378.8ms, count=1, min=378.8ms, max=378.8ms
-  task_specific_sample: mean=374.3ms, total=374.3ms, count=1, min=374.3ms, max=374.3ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=554.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:19:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:19:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:19:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:19:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:19:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:19:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:19:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:19:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:19:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036573m	[env.py: 870]
-05/10 04:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:19:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96514182  0.75353591  0.03657299] yaw=-151.5deg	[env.py: 1019]
-05/10 04:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93090893  1.12041852  0.03657299] yaw=-148.7deg	[env.py: 1019]
-05/10 04:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.04351791  0.74422285  0.03657299] yaw=-155.4deg	[env.py: 1019]
-05/10 04:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:19:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=345.3ms, total=345.4ms	[env.py: 1075]
-05/10 04:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.754, 0.037)	[env.py: 1079]
-05/10 04:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.5 deg	[env.py: 1082]
-05/10 04:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
-05/10 04:19:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:19:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:19:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:19:44 INFO: [Worker 0] Worker 0 house 1 episode 30/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:19:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:19:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:19:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:19:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:19:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:19:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.378[m] 94.071[deg]	[grasp_sample.py: 539]
-05/10 04:19:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:19:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:19:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:20:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:20:06 INFO: [Worker 0] Worker 0 house 1 episode 32 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:20:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:20:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:20:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:20:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:20:34 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:20:34 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 04:20:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:20:38 INFO: [Worker 0] Worker 0 house 1 episode 34 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:20:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:20:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:20:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:20:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.46s (batch: 4.55s, save: 7.91s)	[pipeline.py: 300]
-05/10 04:20:47 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.36s:
-  episode_total: mean=197.62s, total=197.62s, count=1, min=197616.9ms, max=197616.9ms
-  sensor_polling: mean=484.6ms, total=145.37s, count=300, min=400.9ms, max=857.1ms
-  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7906.9ms, max=7906.9ms
-  physics_step: mean=22.5ms, total=6.75s, count=300, min=14.1ms, max=59.7ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4553.5ms, max=4553.5ms
-  task_sampling: mean=363.1ms, total=363.1ms, count=1, min=363.1ms, max=363.1ms
-  task_specific_sample: mean=358.9ms, total=358.9ms, count=1, min=358.9ms, max=358.9ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=552.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:20:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:20:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:20:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:20:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:20:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:20:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:20:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:20:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:20:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028090m	[env.py: 870]
-05/10 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:20:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.11892948  0.93936795  0.02808973] yaw=-135.8deg	[env.py: 1019]
-05/10 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.12150396  1.21180703  0.02808973] yaw=-131.1deg	[env.py: 1019]
-05/10 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:20:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=526.1ms, total=526.1ms	[env.py: 1075]
-05/10 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.119, 0.939, 0.028)	[env.py: 1079]
-05/10 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.8 deg	[env.py: 1082]
-05/10 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.741m	[env.py: 1086]
-05/10 04:20:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:20:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:20:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:20:50 INFO: [Worker 0] Worker 0 house 1 episode 33/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:20:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:20:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:20:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:20:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:20:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.211s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:20:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.334[m] 92.224[deg]	[grasp_sample.py: 539]
-05/10 04:20:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:20:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:20:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:21:00 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:21:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 04:21:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:21:11 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 04:21:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:21:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:21:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:21:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:21:12 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.523s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:21:12 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.109[m] 0.551[deg]	[grasp_sample.py: 539]
-05/10 04:21:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:21:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:21:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:21:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:21:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:21:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.95s (batch: 4.50s, save: 8.45s)	[pipeline.py: 300]
-05/10 04:21:13 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.94s:
-  episode_total: mean=162.71s, total=325.42s, count=2, min=133327.4ms, max=192093.3ms
-  sensor_polling: mean=470.7ms, total=245.26s, count=521, min=387.9ms, max=832.0ms
-  physics_step: mean=22.2ms, total=11.54s, count=521, min=15.2ms, max=61.0ms
-  save_trajectories: mean=8.45s, total=8.45s, count=1, min=8451.8ms, max=8451.8ms
-  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4500.6ms, max=4500.6ms
-  task_sampling: mean=471.0ms, total=942.0ms, count=2, min=388.3ms, max=553.6ms
-  task_specific_sample: mean=467.7ms, total=935.4ms, count=2, min=385.3ms, max=550.1ms
-  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.3ms, max=2.4ms
-  mj_forward_sync: mean=393.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:21:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:21:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:21:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:21:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:21:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:21:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:21:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:21:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:21:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003782m	[env.py: 870]
-05/10 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:21:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92943991  0.65983391  0.00378228] yaw=-162.9deg	[env.py: 1019]
-05/10 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76176091  0.73197921  0.00378228] yaw=-167.7deg	[env.py: 1019]
-05/10 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:21:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=350.2ms, total=350.3ms	[env.py: 1075]
-05/10 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.660, 0.004)	[env.py: 1079]
-05/10 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.9 deg	[env.py: 1082]
-05/10 04:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.793m	[env.py: 1086]
-05/10 04:21:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:21:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:21:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:21:16 INFO: [Worker 0] Worker 0 house 1 episode 35/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:21:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:21:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:21:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:21:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:21:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.470s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:21:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.346[m] 83.855[deg]	[grasp_sample.py: 539]
-05/10 04:21:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:21:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:21:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:21:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:21:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:21:29 INFO: [Worker 0] Worker 0 house 1 episode 33 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:21:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:21:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:21:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:21:51 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:21:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 04:21:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:21:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:22:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:22:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:22:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:22:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.38s (batch: 4.58s, save: 7.80s)	[pipeline.py: 300]
-05/10 04:22:04 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.44s:
-  episode_total: mean=188.66s, total=188.66s, count=1, min=188657.6ms, max=188657.6ms
-  sensor_polling: mean=466.4ms, total=139.91s, count=300, min=385.9ms, max=795.0ms
-  save_trajectories: mean=7.80s, total=7.80s, count=1, min=7797.7ms, max=7797.7ms
-  physics_step: mean=21.5ms, total=6.44s, count=300, min=13.7ms, max=41.2ms
-  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4582.9ms, max=4582.9ms
-  task_sampling: mean=436.9ms, total=436.9ms, count=1, min=436.9ms, max=436.9ms
-  task_specific_sample: mean=432.6ms, total=432.6ms, count=1, min=432.6ms, max=432.6ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=616.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:22:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:22:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:22:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:22:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:22:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:22:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:22:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:22:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:22:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025433m	[env.py: 870]
-05/10 04:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:22:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.61246829  0.58957032  0.02543313] yaw=-175.8deg	[env.py: 1019]
-05/10 04:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85735202  0.97627023  0.02543313] yaw=-159.7deg	[env.py: 1019]
-05/10 04:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:22:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=530.5ms, total=530.6ms	[env.py: 1075]
-05/10 04:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.612, 0.590, 0.025)	[env.py: 1079]
-05/10 04:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.8 deg	[env.py: 1082]
-05/10 04:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m	[env.py: 1086]
-05/10 04:22:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:22:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:22:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:22:07 INFO: [Worker 0] Worker 0 house 1 episode 34/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:22:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:22:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:22:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:22:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:22:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.946s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:22:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.679[m] 95.835[deg]	[grasp_sample.py: 539]
-05/10 04:22:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:22:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:22:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:22:17 INFO: [Worker 0] Worker 0 house 1 episode 30 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:22:35 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:22:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 04:22:35 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/10 04:22:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:22:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:22:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.38s (batch: 3.95s, save: 8.43s)	[pipeline.py: 300]
-05/10 04:22:48 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=0.62s:
-  episode_total: mean=184.57s, total=184.57s, count=1, min=184574.9ms, max=184574.9ms
-  sensor_polling: mean=474.0ms, total=141.71s, count=299, min=397.2ms, max=1037.1ms
-  save_trajectories: mean=8.43s, total=8.43s, count=1, min=8427.3ms, max=8427.3ms
-  physics_step: mean=22.6ms, total=6.76s, count=299, min=16.5ms, max=63.4ms
-  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3949.4ms, max=3949.4ms
-  task_sampling: mean=622.2ms, total=622.2ms, count=1, min=622.2ms, max=622.2ms
-  task_specific_sample: mean=617.8ms, total=617.8ms, count=1, min=617.8ms, max=617.8ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=545.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:22:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:22:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:22:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:22:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:22:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:22:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:22:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:22:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:22:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:22:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:22:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006454m	[env.py: 870]
-05/10 04:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:22:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 135.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83944569  0.68138263 -0.00645412] yaw=-164.9deg	[env.py: 1019]
-05/10 04:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 130.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83169249  0.66553671 -0.00645412] yaw=-166.0deg	[env.py: 1019]
-05/10 04:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.64456022  0.61775875 -0.00645412] yaw=-169.2deg	[env.py: 1019]
-05/10 04:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:22:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.1ms, total=209.1ms	[env.py: 1075]
-05/10 04:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.681, -0.006)	[env.py: 1079]
-05/10 04:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.9 deg	[env.py: 1082]
-05/10 04:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
-05/10 04:22:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:22:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:22:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:22:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:22:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:22:50 INFO: [Worker 0] Worker 0 house 1 episode 31/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:22:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:22:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:22:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:22:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:22:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.756s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:22:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.484[m] 96.322[deg]	[grasp_sample.py: 539]
-05/10 04:22:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:22:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:22:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:23:14 INFO: [Worker 0] Worker 0 house 1 episode 33 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:23:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:23:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:23:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:23:39 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:23:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 04:23:39 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
-05/10 04:23:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:23:43 INFO: [Worker 0] Worker 0 house 1 episode 35 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:23:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:23:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:23:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:23:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.60s (batch: 4.00s, save: 10.60s)	[pipeline.py: 300]
-05/10 04:23:54 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.81s:
-  episode_total: mean=185.57s, total=185.57s, count=1, min=185570.2ms, max=185570.2ms
-  sensor_polling: mean=463.6ms, total=133.98s, count=289, min=405.3ms, max=748.9ms
-  save_trajectories: mean=10.60s, total=10.60s, count=1, min=10597.4ms, max=10597.4ms
-  physics_step: mean=21.7ms, total=6.27s, count=289, min=13.9ms, max=47.6ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4000.2ms, max=4000.2ms
-  task_sampling: mean=814.0ms, total=814.0ms, count=1, min=814.0ms, max=814.0ms
-  task_specific_sample: mean=810.1ms, total=810.1ms, count=1, min=810.1ms, max=810.1ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=463.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:23:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:23:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:23:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:23:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:23:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:23:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:23:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:23:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:23:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:23:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046898m	[env.py: 870]
-05/10 04:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:23:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94360357  0.2182993  -0.0468976 ] yaw=153.5deg	[env.py: 1019]
-05/10 04:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.9157484  0.1934737 -0.0468976] yaw=148.9deg	[env.py: 1019]
-05/10 04:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:23:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=396.7ms, total=396.7ms	[env.py: 1075]
-05/10 04:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.218, -0.047)	[env.py: 1079]
-05/10 04:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.5 deg	[env.py: 1082]
-05/10 04:23:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
-05/10 04:23:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:23:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:23:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:23:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:23:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:23:57 INFO: [Worker 0] Worker 0 house 1 episode 34/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:23:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.155s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:23:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:23:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:23:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.125s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:23:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.161s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:23:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.338[m] 79.570[deg]	[grasp_sample.py: 539]
-05/10 04:23:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:23:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:23:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:24:09 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:24:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 04:24:09 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
-05/10 04:24:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:24:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:24:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.37s (batch: 4.12s, save: 8.25s)	[pipeline.py: 300]
-05/10 04:24:22 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.63s:
-  episode_total: mean=187.38s, total=187.38s, count=1, min=187379.9ms, max=187379.9ms
-  sensor_polling: mean=470.2ms, total=136.36s, count=290, min=402.2ms, max=833.0ms
-  save_trajectories: mean=8.25s, total=8.25s, count=1, min=8253.9ms, max=8253.9ms
-  physics_step: mean=22.5ms, total=6.53s, count=290, min=13.7ms, max=122.8ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4115.9ms, max=4115.9ms
-  task_sampling: mean=633.9ms, total=633.9ms, count=1, min=633.9ms, max=633.9ms
-  task_specific_sample: mean=630.5ms, total=630.5ms, count=1, min=630.5ms, max=630.5ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=383.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:24:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:24:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:24:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:24:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:24:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:24:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:24:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:24:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:24:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:24:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:24:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041549m	[env.py: 870]
-05/10 04:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:24:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.858404    0.13145062  0.04154914] yaw=154.6deg	[env.py: 1019]
-05/10 04:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15011438  0.9500101   0.04154914] yaw=-146.2deg	[env.py: 1019]
-05/10 04:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.66833675  0.37857326  0.04154914] yaw=182.4deg	[env.py: 1019]
-05/10 04:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:24:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=372.6ms, total=372.6ms	[env.py: 1075]
-05/10 04:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.858, 0.131, 0.042)	[env.py: 1079]
-05/10 04:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.6 deg	[env.py: 1082]
-05/10 04:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
-05/10 04:24:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:24:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:24:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:24:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:24:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:24:25 INFO: [Worker 0] Worker 0 house 1 episode 36/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:24:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:24:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:24:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:24:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:24:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.606s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:24:25 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.520[m] 102.632[deg]	[grasp_sample.py: 539]
-05/10 04:24:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:24:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:24:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:24:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:24:40 INFO: [Worker 0] Worker 0 house 1 episode 34 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:24:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:24:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:25:06 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:25:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 04:25:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:25:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:25:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:25:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.63s (batch: 3.81s, save: 7.82s)	[pipeline.py: 300]
-05/10 04:25:18 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.82s:
-  episode_total: mean=192.33s, total=192.33s, count=1, min=192329.7ms, max=192329.7ms
-  sensor_polling: mean=473.5ms, total=142.05s, count=300, min=399.8ms, max=961.4ms
-  save_trajectories: mean=7.82s, total=7.82s, count=1, min=7815.0ms, max=7815.0ms
-  physics_step: mean=21.6ms, total=6.48s, count=300, min=13.9ms, max=70.0ms
-  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3812.0ms, max=3812.0ms
-  task_sampling: mean=823.9ms, total=823.9ms, count=1, min=823.9ms, max=823.9ms
-  task_specific_sample: mean=819.3ms, total=819.3ms, count=1, min=819.3ms, max=819.3ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=600.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:25:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:25:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:25:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:25:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:25:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:25:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:25:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:25:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:25:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014829m	[env.py: 870]
-05/10 04:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:25:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79096477  0.63452893  0.01482876] yaw=-176.7deg	[env.py: 1019]
-05/10 04:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00498421  0.67078404  0.01482876] yaw=-161.2deg	[env.py: 1019]
-05/10 04:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75378974  0.13317383  0.01482876] yaw=166.1deg	[env.py: 1019]
-05/10 04:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:25:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.8ms, total=139.8ms	[env.py: 1075]
-05/10 04:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.791, 0.635, 0.015)	[env.py: 1079]
-05/10 04:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.7 deg	[env.py: 1082]
-05/10 04:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
-05/10 04:25:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:25:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:25:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:25:20 INFO: [Worker 0] Worker 0 house 1 episode 35/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:25:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:25:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:25:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:25:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:25:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:25:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.453s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:25:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.450[m] 86.539[deg]	[grasp_sample.py: 539]
-05/10 04:25:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:25:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:25:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:25:27 INFO: [Worker 0] Worker 0 house 1 episode 31 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:25:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:25:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:25:50 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:25:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 04:25:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:25:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:26:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:26:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:26:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:26:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:26:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.04s (batch: 3.94s, save: 8.10s)	[pipeline.py: 300]
-05/10 04:26:03 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.48s:
-  episode_total: mean=193.41s, total=193.41s, count=1, min=193414.6ms, max=193414.6ms
-  sensor_polling: mean=482.9ms, total=144.87s, count=300, min=402.7ms, max=883.2ms
-  save_trajectories: mean=8.10s, total=8.10s, count=1, min=8095.7ms, max=8095.7ms
-  physics_step: mean=22.9ms, total=6.88s, count=300, min=16.4ms, max=82.4ms
-  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3942.5ms, max=3942.5ms
-  task_sampling: mean=477.8ms, total=477.8ms, count=1, min=477.8ms, max=477.8ms
-  task_specific_sample: mean=474.7ms, total=474.7ms, count=1, min=474.7ms, max=474.7ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=373.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:26:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:26:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:26:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:26:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:26:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:26:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:26:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:26:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:26:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049374m	[env.py: 870]
-05/10 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:26:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66483161  0.26817045  0.04937434] yaw=171.0deg	[env.py: 1019]
-05/10 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98194981  1.31099743  0.04937434] yaw=-127.6deg	[env.py: 1019]
-05/10 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:26:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=348.7ms, total=348.8ms	[env.py: 1075]
-05/10 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.665, 0.268, 0.049)	[env.py: 1079]
-05/10 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.0 deg	[env.py: 1082]
-05/10 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
-05/10 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:26:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:26:05 INFO: [Worker 0] Worker 0 house 1 episode 32/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:26:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:26:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:26:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:26:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:26:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:26:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.593s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:26:07 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.591[m] 86.700[deg]	[grasp_sample.py: 539]
-05/10 04:26:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:26:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:26:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:26:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:26:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:26:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:26:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:26:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:26:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:26:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:26:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:26:12 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.392s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:26:12 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.255[deg]	[grasp_sample.py: 539]
-05/10 04:26:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:26:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:26:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:26:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:26:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:26:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:26:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:26:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:26:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:26:37 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 04:26:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:26:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:26:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:26:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:26:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:26:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:26:39 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.550s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:26:39 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.854[deg]	[grasp_sample.py: 539]
-05/10 04:26:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:26:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:26:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:26:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:26:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:26:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:26:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:26:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:26:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:26:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:26:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:26:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:26:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:26:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:26:47 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.429s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:26:47 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.175[deg]	[grasp_sample.py: 539]
-05/10 04:26:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:26:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:26:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:26:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:26:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:26:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:26:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:26:56 INFO: [Worker 0] Worker 0 house 1 episode 34 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:27:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:27:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:27:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:27:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:27:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:27:17 INFO: [Worker 0] Worker 0 house 1 episode 36 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:27:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:27:20 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:27:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 04:27:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:27:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:27:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:27:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.33s (batch: 3.90s, save: 10.43s)	[pipeline.py: 300]
-05/10 04:27:35 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.68s:
-  episode_total: mean=219.00s, total=219.00s, count=1, min=219002.4ms, max=219002.4ms
-  sensor_polling: mean=475.7ms, total=142.70s, count=300, min=405.1ms, max=776.3ms
-  save_trajectories: mean=10.43s, total=10.43s, count=1, min=10433.9ms, max=10433.9ms
-  physics_step: mean=21.8ms, total=6.53s, count=300, min=13.2ms, max=64.3ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3900.5ms, max=3900.5ms
-  task_sampling: mean=675.0ms, total=675.0ms, count=1, min=675.0ms, max=675.0ms
-  task_specific_sample: mean=671.5ms, total=671.5ms, count=1, min=671.5ms, max=671.5ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=375.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:27:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:27:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:27:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:27:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:27:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:27:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:27:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:27:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:27:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010491m	[env.py: 870]
-05/10 04:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:27:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03614026  0.79924286  0.01049087] yaw=-165.1deg	[env.py: 1019]
-05/10 04:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94863307  0.14149995  0.01049087] yaw=159.1deg	[env.py: 1019]
-05/10 04:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82526907  0.52798117  0.01049087] yaw=-178.4deg	[env.py: 1019]
-05/10 04:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:27:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=273.9ms, total=274.0ms	[env.py: 1075]
-05/10 04:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.036, 0.799, 0.010)	[env.py: 1079]
-05/10 04:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.1 deg	[env.py: 1082]
-05/10 04:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.738m	[env.py: 1086]
-05/10 04:27:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:27:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:27:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:27:38 INFO: [Worker 0] Worker 0 house 1 episode 35/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:27:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:27:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:27:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:27:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:27:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.706s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:27:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.291[m] 82.463[deg]	[grasp_sample.py: 539]
-05/10 04:27:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:27:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:27:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:27:42 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:27:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 04:27:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:27:52 INFO: [Worker 0] Worker 0 house 1 episode 35 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:27:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:27:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:27:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.94s (batch: 4.06s, save: 7.88s)	[pipeline.py: 300]
-05/10 04:27:54 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.64s:
-  episode_total: mean=210.30s, total=210.30s, count=1, min=210303.0ms, max=210303.0ms
-  sensor_polling: mean=478.1ms, total=143.44s, count=300, min=400.9ms, max=818.3ms
-  save_trajectories: mean=7.88s, total=7.88s, count=1, min=7878.0ms, max=7878.0ms
-  physics_step: mean=22.1ms, total=6.62s, count=300, min=12.8ms, max=65.3ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4061.0ms, max=4061.0ms
-  task_sampling: mean=644.1ms, total=644.1ms, count=1, min=644.1ms, max=644.1ms
-  task_specific_sample: mean=640.7ms, total=640.7ms, count=1, min=640.7ms, max=640.7ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=399.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:27:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:27:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:27:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:27:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:27:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:27:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:27:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:27:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:27:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048847m	[env.py: 870]
-05/10 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:27:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7195049   0.43188478  0.04884662] yaw=184.8deg	[env.py: 1019]
-05/10 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70596419  0.65872587  0.04884662] yaw=-180.8deg	[env.py: 1019]
-05/10 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.74364941 -0.01574972  0.04884662] yaw=154.6deg	[env.py: 1019]
-05/10 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:27:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.1ms, total=197.1ms	[env.py: 1075]
-05/10 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.720, 0.432, 0.049)	[env.py: 1079]
-05/10 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.8 deg	[env.py: 1082]
-05/10 04:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
-05/10 04:27:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:27:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:27:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:27:56 INFO: [Worker 0] Worker 0 house 1 episode 37/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:27:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:27:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:27:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:27:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:27:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:27:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.572[m] 96.189[deg]	[grasp_sample.py: 539]
-05/10 04:27:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:27:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:27:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:28:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:28:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:28:16 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:28:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 04:28:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:28:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:28:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:28:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:28:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.74s (batch: 3.98s, save: 7.76s)	[pipeline.py: 300]
-05/10 04:28:29 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.39s:
-  episode_total: mean=189.01s, total=189.01s, count=1, min=189009.7ms, max=189009.7ms
-  sensor_polling: mean=469.4ms, total=140.81s, count=300, min=398.4ms, max=799.4ms
-  save_trajectories: mean=7.76s, total=7.76s, count=1, min=7760.7ms, max=7760.7ms
-  physics_step: mean=22.8ms, total=6.83s, count=300, min=13.5ms, max=47.1ms
-  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3975.4ms, max=3975.4ms
-  task_sampling: mean=393.9ms, total=393.9ms, count=1, min=393.9ms, max=393.9ms
-  task_specific_sample: mean=390.5ms, total=390.5ms, count=1, min=390.5ms, max=390.5ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=380.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=13.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:28:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:28:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:28:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:28:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:28:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:28:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:28:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:28:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:28:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013719m	[env.py: 870]
-05/10 04:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:28:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.6603699   0.70378086  0.01371896] yaw=-163.9deg	[env.py: 1019]
-05/10 04:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98298353  0.84941156  0.01371896] yaw=-160.4deg	[env.py: 1019]
-05/10 04:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.6853135   0.72341357  0.01371896] yaw=-176.1deg	[env.py: 1019]
-05/10 04:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:28:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.6ms, total=144.7ms	[env.py: 1075]
-05/10 04:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.660, 0.704, 0.014)	[env.py: 1079]
-05/10 04:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.9 deg	[env.py: 1082]
-05/10 04:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
-05/10 04:28:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:28:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:28:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:28:31 INFO: [Worker 0] Worker 0 house 1 episode 36/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:28:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:28:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:28:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:28:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:28:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.145s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:28:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.660[m] 95.302[deg]	[grasp_sample.py: 539]
-05/10 04:28:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:28:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:28:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:28:37 INFO: [Worker 0] Worker 0 house 1 episode 32 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:28:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:28:56 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:28:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 04:28:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:29:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:29:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:29:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:29:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:29:12 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.75s (batch: 4.88s, save: 10.87s)	[pipeline.py: 300]
-05/10 04:29:13 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.64s:
-  episode_total: mean=187.69s, total=187.69s, count=1, min=187685.9ms, max=187685.9ms
-  sensor_polling: mean=464.8ms, total=139.44s, count=300, min=396.7ms, max=840.6ms
-  save_trajectories: mean=10.87s, total=10.87s, count=1, min=10867.4ms, max=10867.4ms
-  physics_step: mean=22.6ms, total=6.78s, count=300, min=13.8ms, max=63.2ms
-  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4880.1ms, max=4880.1ms
-  task_sampling: mean=642.2ms, total=642.2ms, count=1, min=642.2ms, max=642.2ms
-  task_specific_sample: mean=637.8ms, total=637.8ms, count=1, min=637.8ms, max=637.8ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=562.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:29:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:29:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:29:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:29:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:29:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:29:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:29:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:29:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:29:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023638m	[env.py: 870]
-05/10 04:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:29:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97138437  0.27975045 -0.02363782] yaw=167.0deg	[env.py: 1019]
-05/10 04:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78636216  0.84163749 -0.02363782] yaw=-162.7deg	[env.py: 1019]
-05/10 04:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90225058  0.18117112 -0.02363782] yaw=170.1deg	[env.py: 1019]
-05/10 04:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:29:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.5ms, total=203.6ms	[env.py: 1075]
-05/10 04:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.971, 0.280, -0.024)	[env.py: 1079]
-05/10 04:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.0 deg	[env.py: 1082]
-05/10 04:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m	[env.py: 1086]
-05/10 04:29:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:29:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:29:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:29:15 INFO: [Worker 0] Worker 0 house 1 episode 33/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:29:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:29:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:29:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:29:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:29:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.437s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:29:15 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.317[m] 86.354[deg]	[grasp_sample.py: 539]
-05/10 04:29:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:29:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:29:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:29:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:29:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:29:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:29:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:29:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:29:55 INFO: [Worker 0] Worker 0 house 1 episode 35 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:29:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:30:17 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:30:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 04:30:17 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
-05/10 04:30:23 INFO: [Worker 0] Worker 0 house 1 episode 37 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:30:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:30:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:30:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.19s (batch: 3.74s, save: 7.45s)	[pipeline.py: 300]
-05/10 04:30:29 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.61s:
-  episode_total: mean=172.03s, total=172.03s, count=1, min=172027.5ms, max=172027.5ms
-  sensor_polling: mean=458.5ms, total=127.47s, count=278, min=405.9ms, max=740.8ms
-  save_trajectories: mean=7.45s, total=7.45s, count=1, min=7449.1ms, max=7449.1ms
-  physics_step: mean=20.9ms, total=5.81s, count=278, min=16.6ms, max=40.2ms
-  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3738.8ms, max=3738.8ms
-  task_sampling: mean=611.3ms, total=611.3ms, count=1, min=611.3ms, max=611.3ms
-  task_specific_sample: mean=606.3ms, total=606.3ms, count=1, min=606.3ms, max=606.3ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=510.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:30:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:30:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:30:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:30:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:30:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:30:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:30:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:30:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:30:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024793m	[env.py: 870]
-05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:30:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.115409    1.03275735  0.02479261] yaw=-145.0deg	[env.py: 1019]
-05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85462186  0.04784836  0.02479261] yaw=161.2deg	[env.py: 1019]
-05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95550346  0.87192308  0.02479261] yaw=-160.9deg	[env.py: 1019]
-05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:30:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.5ms, total=174.5ms	[env.py: 1075]
-05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.115, 1.033, 0.025)	[env.py: 1079]
-05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.0 deg	[env.py: 1082]
-05/10 04:30:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
-05/10 04:30:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:30:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:30:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:30:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:30:31 INFO: [Worker 0] Worker 0 house 1 episode 36/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:30:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:30:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:30:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:30:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:30:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.734s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:30:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.392[m] 85.117[deg]	[grasp_sample.py: 539]
-05/10 04:30:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:30:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:30:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:30:43 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:30:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 04:30:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:30:54 INFO: [Worker 0] Worker 0 house 1 episode 36 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:30:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:30:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:30:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.10s (batch: 3.58s, save: 7.52s)	[pipeline.py: 300]
-05/10 04:30:54 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.49s:
-  episode_total: mean=178.56s, total=178.56s, count=1, min=178561.3ms, max=178561.3ms
-  sensor_polling: mean=453.4ms, total=136.03s, count=300, min=390.9ms, max=879.2ms
-  save_trajectories: mean=7.52s, total=7.52s, count=1, min=7520.3ms, max=7520.3ms
-  physics_step: mean=22.6ms, total=6.77s, count=300, min=13.6ms, max=73.2ms
-  save_batch_prep: mean=3.58s, total=3.58s, count=1, min=3576.4ms, max=3576.4ms
-  task_sampling: mean=493.6ms, total=493.6ms, count=1, min=493.6ms, max=493.6ms
-  task_specific_sample: mean=490.0ms, total=490.0ms, count=1, min=490.0ms, max=490.0ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=387.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:30:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:30:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:30:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:30:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:30:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:30:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:30:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018485m	[env.py: 870]
-05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:30:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82645479  0.32445108 -0.01848502] yaw=175.5deg	[env.py: 1019]
-05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90967239  1.18163316 -0.01848502] yaw=-149.0deg	[env.py: 1019]
-05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7611884   0.11610308 -0.01848502] yaw=169.6deg	[env.py: 1019]
-05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:30:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=244.5ms, total=244.5ms	[env.py: 1075]
-05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.826, 0.324, -0.018)	[env.py: 1079]
-05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.5 deg	[env.py: 1082]
-05/10 04:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
-05/10 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:30:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:30:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:30:56 INFO: [Worker 0] Worker 0 house 1 episode 38/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:30:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:30:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:30:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:30:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.110s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:30:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.823s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:30:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.434[m] 84.441[deg]	[grasp_sample.py: 539]
-05/10 04:30:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:30:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:30:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:31:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:31:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:31:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:31:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:31:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:31:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:31:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:31:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:31:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:31:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:31:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:31:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:31:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:31:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:31:13 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.383s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:31:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.506[deg]	[grasp_sample.py: 539]
-05/10 04:31:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:31:13 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:31:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 04:31:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:31:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:31:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:31:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:31:17 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 04:31:17 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.40s:
-  episode_total: mean=166.82s, total=166.82s, count=1, min=166824.7ms, max=166824.7ms
-  sensor_polling: mean=442.2ms, total=132.67s, count=300, min=382.1ms, max=680.4ms
-  physics_step: mean=19.6ms, total=5.87s, count=300, min=14.5ms, max=49.6ms
-  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3942.3ms, max=3942.3ms
-  task_sampling: mean=398.8ms, total=398.8ms, count=1, min=398.8ms, max=398.8ms
-  task_specific_sample: mean=395.8ms, total=395.8ms, count=1, min=395.8ms, max=395.8ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=377.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:31:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:31:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:31:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:31:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:31:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:31:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:31:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:31:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:31:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:31:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020877m	[env.py: 870]
-05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:31:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7812189   0.02348631 -0.02087722] yaw=145.5deg	[env.py: 1019]
-05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76943514  0.02522351 -0.02087722] yaw=163.1deg	[env.py: 1019]
-05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90010722  0.32423285 -0.02087722] yaw=175.9deg	[env.py: 1019]
-05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:31:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.7ms, total=206.7ms	[env.py: 1075]
-05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.781, 0.023, -0.021)	[env.py: 1079]
-05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.5 deg	[env.py: 1082]
-05/10 04:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
-05/10 04:31:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:31:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:31:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:31:19 INFO: [Worker 0] Worker 0 house 1 episode 37/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:31:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:31:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:31:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:31:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:31:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:31:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.392s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:31:21 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.624[m] 97.163[deg]	[grasp_sample.py: 539]
-05/10 04:31:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:31:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:31:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:31:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:31:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:31:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:31:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:31:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:32:04 INFO: [Worker 0] Worker 0 house 1 episode 33 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:32:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:32:23 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:32:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 04:32:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:32:28 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 04:32:28 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.45s:
-  episode_total: mean=193.67s, total=193.67s, count=1, min=193674.7ms, max=193674.7ms
-  sensor_polling: mean=438.8ms, total=131.63s, count=300, min=391.0ms, max=789.6ms
-  physics_step: mean=20.4ms, total=6.11s, count=300, min=12.4ms, max=36.7ms
-  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4147.4ms, max=4147.4ms
-  task_sampling: mean=451.0ms, total=451.0ms, count=1, min=451.0ms, max=451.0ms
-  task_specific_sample: mean=447.5ms, total=447.5ms, count=1, min=447.5ms, max=447.5ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=392.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:32:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:32:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:32:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:32:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:32:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:32:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:32:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:32:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:32:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:32:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004838m	[env.py: 870]
-05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:32:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93610178  0.98306409 -0.00483831] yaw=-137.3deg	[env.py: 1019]
-05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.85335073  1.02096049 -0.00483831] yaw=-144.2deg	[env.py: 1019]
-05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:32:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.2ms, total=198.2ms	[env.py: 1075]
-05/10 04:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.936, 0.983, -0.005)	[env.py: 1079]
-05/10 04:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg	[env.py: 1082]
-05/10 04:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
-05/10 04:32:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:32:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:32:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:32:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:32:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:32:30 INFO: [Worker 0] Worker 0 house 1 episode 34/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:32:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:32:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:32:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:32:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:32:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.609s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:32:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.460[m] 84.169[deg]	[grasp_sample.py: 539]
-05/10 04:32:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:32:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:32:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:32:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:32:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:32:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:32:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:32:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:32:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:32:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:32:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:32:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:32:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:32:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:32:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:32:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:32:46 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.624s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:32:46 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.277[deg]	[grasp_sample.py: 539]
-05/10 04:32:48 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 04:32:48 WARNING: [Worker 0] Asset Fridge_7_upside_down (hash: a079a499003c75f24f76325cf35d2986) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
-05/10 04:32:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:32:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:32:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:32:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:32:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:32:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:32:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034541m	[env.py: 870]
-05/10 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:32:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07117747  1.14636185  0.03454059] yaw=-135.1deg	[env.py: 1019]
-05/10 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82096617  0.50716355  0.03454059] yaw=-182.7deg	[env.py: 1019]
-05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70767647  0.25316769  0.03454059] yaw=162.1deg	[env.py: 1019]
-05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:32:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.1ms, total=201.1ms	[env.py: 1075]
-05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.071, 1.146, 0.035)	[env.py: 1079]
-05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.1 deg	[env.py: 1082]
-05/10 04:32:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
-05/10 04:32:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:32:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:32:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:32:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:32:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:32:50 INFO: [Worker 0] Worker 0 house 1 episode 37/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:32:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:32:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:32:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:32:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:32:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.927s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:32:54 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.458[m] 87.504[deg]	[grasp_sample.py: 539]
-05/10 04:32:55 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 04:32:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:32:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:32:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:32:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:32:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:32:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:32:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:32:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:32:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:32:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:32:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027909m	[env.py: 870]
-05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:32:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01823034  1.09963945 -0.02790881] yaw=-140.6deg	[env.py: 1019]
-05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7752867   0.20971788 -0.02790881] yaw=164.9deg	[env.py: 1019]
-05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04119797  0.82525215 -0.02790881] yaw=-152.1deg	[env.py: 1019]
-05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:32:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.7ms, total=133.7ms	[env.py: 1075]
-05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.018, 1.100, -0.028)	[env.py: 1079]
-05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.6 deg	[env.py: 1082]
-05/10 04:32:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
-05/10 04:32:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:32:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:32:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:32:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:32:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:32:58 INFO: [Worker 0] Worker 0 house 1 episode 38/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:32:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:32:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:32:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:32:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:32:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.625s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:32:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.514[m] 86.878[deg]	[grasp_sample.py: 539]
-05/10 04:33:00 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 04:33:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:33:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:33:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:33:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:33:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:33:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:33:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:33:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:33:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004759m	[env.py: 870]
-05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:33:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93519037  0.2381039   0.00475855] yaw=153.0deg	[env.py: 1019]
-05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:33:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=170.8ms, total=170.8ms	[env.py: 1075]
-05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.238, 0.005)	[env.py: 1079]
-05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.0 deg	[env.py: 1082]
-05/10 04:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
-05/10 04:33:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:33:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:33:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:33:03 INFO: [Worker 0] Worker 0 house 1 episode 39/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:33:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:33:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:33:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:33:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:33:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.496s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:33:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.379[m] 92.362[deg]	[grasp_sample.py: 539]
-05/10 04:33:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:33:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:33:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:33:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:33:25 INFO: [Worker 0] Worker 0 house 1 episode 38 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:33:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:33:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:33:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:33:50 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:33:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 04:33:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:33:54 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 04:33:54 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=0.56s:
-  episode_total: mean=178.21s, total=178.21s, count=1, min=178213.7ms, max=178213.7ms
-  sensor_polling: mean=455.7ms, total=136.71s, count=300, min=396.6ms, max=837.8ms
-  physics_step: mean=22.7ms, total=6.81s, count=300, min=15.8ms, max=62.2ms
-  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4438.7ms, max=4438.7ms
-  task_sampling: mean=558.8ms, total=558.8ms, count=1, min=558.8ms, max=558.8ms
-  task_specific_sample: mean=555.2ms, total=555.2ms, count=1, min=555.2ms, max=555.2ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=404.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:33:55 INFO: [Worker 0] Worker 0 house 1 episode 37 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:33:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:33:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:33:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:33:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:33:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:33:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:33:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:33:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:33:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:33:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021868m	[env.py: 870]
-05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:33:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.161873    1.04750376  0.02186815] yaw=-125.9deg	[env.py: 1019]
-05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.013925    0.2657451   0.02186815] yaw=151.5deg	[env.py: 1019]
-05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:33:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=372.2ms, total=372.2ms	[env.py: 1075]
-05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.162, 1.048, 0.022)	[env.py: 1079]
-05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.9 deg	[env.py: 1082]
-05/10 04:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m	[env.py: 1086]
-05/10 04:33:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:33:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:33:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:33:57 INFO: [Worker 0] Worker 0 house 1 episode 39/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:33:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:33:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:33:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:33:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:33:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.671s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:33:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.360[m] 87.280[deg]	[grasp_sample.py: 539]
-05/10 04:33:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:33:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:33:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:34:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:34:21 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:34:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 04:34:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:34:26 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 04:34:26 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.46s:
-  episode_total: mean=187.30s, total=187.30s, count=1, min=187301.2ms, max=187301.2ms
-  sensor_polling: mean=482.6ms, total=144.78s, count=300, min=417.6ms, max=1023.1ms
-  physics_step: mean=22.6ms, total=6.77s, count=300, min=13.4ms, max=64.9ms
-  save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4908.6ms, max=4908.6ms
-  task_sampling: mean=460.1ms, total=460.1ms, count=1, min=460.1ms, max=460.1ms
-  task_specific_sample: mean=456.9ms, total=456.9ms, count=1, min=456.9ms, max=456.9ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=372.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:34:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:34:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:34:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:34:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:34:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:34:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:34:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:34:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:34:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:34:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:34:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043272m	[env.py: 870]
-05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:34:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7602615   0.86559234 -0.04327156] yaw=-151.2deg	[env.py: 1019]
-05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84292433  0.12903314 -0.04327156] yaw=149.7deg	[env.py: 1019]
-05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73685672  0.74358077 -0.04327156] yaw=-173.3deg	[env.py: 1019]
-05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:34:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.3ms, total=178.4ms	[env.py: 1075]
-05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.760, 0.866, -0.043)	[env.py: 1079]
-05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.2 deg	[env.py: 1082]
-05/10 04:34:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
-05/10 04:34:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:34:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:34:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:34:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:34:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:34:28 INFO: [Worker 0] Worker 0 house 1 episode 38/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:34:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:34:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:34:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:34:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:34:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.269s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:34:33 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.572[m] 78.287[deg]	[grasp_sample.py: 539]
-05/10 04:34:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:34:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:34:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:34:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:34:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:34:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:35:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:35:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:35:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:35:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:35:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:35:16 INFO: [Worker 0] Worker 0 house 1 episode 34 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:35:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:35:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:35:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:35:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:35:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:35:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:35:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:35:20 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.431s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:35:20 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.242[deg]	[grasp_sample.py: 539]
-05/10 04:35:21 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 04:35:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:35:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:35:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:35:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:35:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:35:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:35:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009124m	[env.py: 870]
-05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:35:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97850339  0.69335103 -0.00912389] yaw=-168.8deg	[env.py: 1019]
-05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84617597  0.64291696 -0.00912389] yaw=-160.2deg	[env.py: 1019]
-05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:35:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=266.2ms, total=266.3ms	[env.py: 1075]
-05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.979, 0.693, -0.009)	[env.py: 1079]
-05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.8 deg	[env.py: 1082]
-05/10 04:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.754m	[env.py: 1086]
-05/10 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:35:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:35:23 INFO: [Worker 0] Worker 0 house 1 episode 40/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:35:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:35:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:35:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:35:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:35:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.500s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:35:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.365[m] 92.796[deg]	[grasp_sample.py: 539]
-05/10 04:35:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:35:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:35:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:35:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:35:39 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:35:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 04:35:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:35:43 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 04:35:43 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.53s:
-  episode_total: mean=194.14s, total=194.14s, count=1, min=194144.0ms, max=194144.0ms
-  sensor_polling: mean=513.2ms, total=153.96s, count=300, min=432.6ms, max=928.8ms
-  physics_step: mean=26.2ms, total=7.85s, count=300, min=15.9ms, max=129.7ms
-  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4571.7ms, max=4571.7ms
-  task_sampling: mean=527.0ms, total=527.0ms, count=1, min=527.0ms, max=527.0ms
-  task_specific_sample: mean=523.2ms, total=523.2ms, count=1, min=523.2ms, max=523.2ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=465.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:35:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:35:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:35:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:35:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:35:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:35:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:35:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:35:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:35:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044123m	[env.py: 870]
-05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:35:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:35:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=183.8ms, total=183.8ms	[env.py: 1105]
-05/10 04:35:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 04:35:45 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 04:35:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:35:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:35:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:35:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:35:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:35:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:35:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:35:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:35:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:35:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031125m	[env.py: 870]
-05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:35:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78163144  0.33893799 -0.03112475] yaw=173.2deg	[env.py: 1019]
-05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95393312  0.34377065 -0.03112475] yaw=158.3deg	[env.py: 1019]
-05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07790333  0.93175611 -0.03112475] yaw=-153.4deg	[env.py: 1019]
-05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:35:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.8ms, total=110.8ms	[env.py: 1075]
-05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.339, -0.031)	[env.py: 1079]
-05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.2 deg	[env.py: 1082]
-05/10 04:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
-05/10 04:35:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:35:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:35:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:35:48 INFO: [Worker 0] Worker 0 house 1 episode 36/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:35:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:35:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:35:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:35:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:35:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.515s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:35:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.499[m] 92.517[deg]	[grasp_sample.py: 539]
-05/10 04:35:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:35:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:35:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:35:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:36:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:36:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:36:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:36:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:36:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:36:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:36:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:36:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:36:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:36:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:36:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:36:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:36:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:36:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:36:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:36:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:36:36 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.718s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:36:36 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.322[deg]	[grasp_sample.py: 539]
-05/10 04:36:37 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 04:36:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:36:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:36:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:36:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:36:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:36:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:36:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:36:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:36:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003148m	[env.py: 870]
-05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:36:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01660783  0.72583803 -0.00314816] yaw=-159.8deg	[env.py: 1019]
-05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6376516   0.42688461 -0.00314816] yaw=172.1deg	[env.py: 1019]
-05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78504529  0.4613146  -0.00314816] yaw=174.4deg	[env.py: 1019]
-05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:36:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.0ms, total=110.1ms	[env.py: 1075]
-05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.017, 0.726, -0.003)	[env.py: 1079]
-05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.8 deg	[env.py: 1082]
-05/10 04:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.728m	[env.py: 1086]
-05/10 04:36:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:36:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:36:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:36:39 INFO: [Worker 0] Worker 0 house 1 episode 40/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:36:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:36:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:36:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:36:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:36:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.542s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:36:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.335[m] 96.522[deg]	[grasp_sample.py: 539]
-05/10 04:36:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:36:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:36:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:36:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:36:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:36:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:37:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:37:19 INFO: [Worker 0] Worker 0 house 1 episode 38 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:37:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:37:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:37:43 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:37:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 04:37:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:37:48 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 04:37:48 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=0.48s:
-  episode_total: mean=200.30s, total=200.30s, count=1, min=200300.2ms, max=200300.2ms
-  sensor_polling: mean=519.0ms, total=155.69s, count=300, min=464.1ms, max=974.5ms
-  physics_step: mean=24.0ms, total=7.21s, count=300, min=16.7ms, max=93.6ms
-  save_batch_prep: mean=4.97s, total=4.97s, count=1, min=4965.2ms, max=4965.2ms
-  task_sampling: mean=482.2ms, total=482.2ms, count=1, min=482.2ms, max=482.2ms
-  task_specific_sample: mean=478.0ms, total=478.0ms, count=1, min=478.0ms, max=478.0ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=474.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:37:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:37:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:37:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:37:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:37:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:37:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:37:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:37:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:37:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048603m	[env.py: 870]
-05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:37:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98847865  1.18845165  0.04860311] yaw=-131.6deg	[env.py: 1019]
-05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86014376  0.76974781  0.04860311] yaw=-172.5deg	[env.py: 1019]
-05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:37:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=228.7ms, total=228.7ms	[env.py: 1075]
-05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.988, 1.188, 0.049)	[env.py: 1079]
-05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.6 deg	[env.py: 1082]
-05/10 04:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m	[env.py: 1086]
-05/10 04:37:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:37:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:37:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:37:50 INFO: [Worker 0] Worker 0 house 1 episode 39/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:37:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:37:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:37:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:37:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:37:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.782s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:37:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.571[m] 94.312[deg]	[grasp_sample.py: 539]
-05/10 04:37:53 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 04:37:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:37:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:37:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:37:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:37:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:37:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:37:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001901m	[env.py: 870]
-05/10 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:37:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.08669152  1.22434244 -0.00190056] yaw=-125.1deg	[env.py: 1019]
-05/10 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90033396  0.6924005  -0.00190056] yaw=-175.1deg	[env.py: 1019]
-05/10 04:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77377577  0.12559437 -0.00190056] yaw=150.1deg	[env.py: 1019]
-05/10 04:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:37:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.7ms, total=160.7ms	[env.py: 1075]
-05/10 04:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.087, 1.224, -0.002)	[env.py: 1079]
-05/10 04:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.1 deg	[env.py: 1082]
-05/10 04:37:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
-05/10 04:37:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:37:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:37:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:37:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:37:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:37:56 INFO: [Worker 0] Worker 0 house 1 episode 40/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:37:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:37:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:37:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:37:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:37:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.813s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:37:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.557[m] 92.637[deg]	[grasp_sample.py: 539]
-05/10 04:37:59 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 04:38:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:38:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:38:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:38:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:38:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:38:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:38:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:38:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:38:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:38:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:38:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.030m, effective arm-mount z=0.830m (base_body_z=-0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030359m	[env.py: 870]
-05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:38:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88780737  0.71214112 -0.03035905] yaw=-153.1deg	[env.py: 1019]
-05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9994654   0.97875488 -0.03035905] yaw=-137.6deg	[env.py: 1019]
-05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.16104108  1.10333771 -0.03035905] yaw=-132.3deg	[env.py: 1019]
-05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:38:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.2ms, total=295.2ms	[env.py: 1075]
-05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.888, 0.712, -0.030)	[env.py: 1079]
-05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.1 deg	[env.py: 1082]
-05/10 04:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
-05/10 04:38:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:38:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:38:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:38:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:38:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:38:01 INFO: [Worker 0] Worker 0 house 1 episode 41/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:38:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:38:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:38:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:38:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:38:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.681s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:38:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.436[m] 85.437[deg]	[grasp_sample.py: 539]
-05/10 04:38:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:38:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:38:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:38:08 INFO: [Worker 0] Worker 0 house 1 episode 40 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:38:35 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:38:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 04:38:35 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
-05/10 04:38:39 INFO: [Worker 0] Worker 0 house 1 episode 36 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:38:41 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 04:38:41 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=2.28s:
-  episode_total: mean=96.69s, total=483.46s, count=5, min=3310.3ms, max=198266.0ms
-  sensor_polling: mean=493.9ms, total=378.35s, count=766, min=381.7ms, max=1165.4ms
-  physics_step: mean=22.8ms, total=17.49s, count=766, min=16.1ms, max=89.1ms
-  save_batch_prep: mean=5.58s, total=5.58s, count=1, min=5580.5ms, max=5580.5ms
-  task_sampling: mean=456.6ms, total=2.28s, count=5, min=393.8ms, max=552.2ms
-  task_specific_sample: mean=453.1ms, total=2.27s, count=5, min=389.2ms, max=549.2ms
-  scene_randomize: mean=1.7ms, total=8.7ms, count=5, min=1.3ms, max=2.4ms
-  mj_forward_sync: mean=489.3us, total=2.4ms, count=5, min=0.5ms, max=0.6ms
-  policy_setup: mean=18.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:38:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:38:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:38:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:38:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:38:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:38:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:38:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:38:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:38:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013516m	[env.py: 870]
-05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:38:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.68097606  0.37768227  0.01351642] yaw=176.2deg	[env.py: 1019]
-05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14037665  1.07136216  0.01351642] yaw=-122.7deg	[env.py: 1019]
-05/10 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79267697  0.53611186  0.01351642] yaw=-166.4deg	[env.py: 1019]
-05/10 04:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:38:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=283.5ms, total=283.6ms	[env.py: 1075]
-05/10 04:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.681, 0.378, 0.014)	[env.py: 1079]
-05/10 04:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.2 deg	[env.py: 1082]
-05/10 04:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
-05/10 04:38:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:38:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:38:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:38:44 INFO: [Worker 0] Worker 0 house 1 episode 41/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:38:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:38:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:38:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:38:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:38:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.805s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:38:45 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.605[m] 96.343[deg]	[grasp_sample.py: 539]
-05/10 04:38:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:38:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:38:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:38:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:39:04 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:39:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 04:39:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:39:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:39:09 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 04:39:09 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.42s:
-  episode_total: mean=101.03s, total=202.05s, count=2, min=194.2ms, max=201858.6ms
-  sensor_polling: mean=532.1ms, total=159.64s, count=300, min=473.8ms, max=860.2ms
-  physics_step: mean=25.1ms, total=7.53s, count=300, min=17.1ms, max=57.3ms
-  save_batch_prep: mean=4.93s, total=4.93s, count=1, min=4926.3ms, max=4926.3ms
-  task_specific_sample: mean=302.8ms, total=605.5ms, count=2, min=189.1ms, max=416.5ms
-  task_sampling: mean=419.8ms, total=419.8ms, count=1, min=419.8ms, max=419.8ms
-  task_sampling_failed: mean=194.1ms, total=194.1ms, count=1, min=194.1ms, max=194.1ms
-  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.5ms, max=2.3ms
-  mj_forward_sync: mean=459.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:39:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:39:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:39:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:39:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:39:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:39:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:39:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:39:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:39:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036352m	[env.py: 870]
-05/10 04:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:39:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03332088  0.75946002 -0.03635203] yaw=-165.7deg	[env.py: 1019]
-05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93261254  0.67528063 -0.03635203] yaw=-168.9deg	[env.py: 1019]
-05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:39:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=498.7ms, total=498.8ms	[env.py: 1075]
-05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.033, 0.759, -0.036)	[env.py: 1079]
-05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.7 deg	[env.py: 1082]
-05/10 04:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.724m	[env.py: 1086]
-05/10 04:39:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:39:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:39:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:39:12 INFO: [Worker 0] Worker 0 house 1 episode 37/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:39:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.185s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:39:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:39:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:39:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:39:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:39:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.779s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:39:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.265[m] 78.562[deg]	[grasp_sample.py: 539]
-05/10 04:39:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:39:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:39:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:39:28 INFO: [Worker 0] Worker 0 house 1 episode 40 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:39:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:39:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:39:56 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:39:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 04:39:56 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
-05/10 04:40:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:40:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:40:01 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 04:40:02 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=1.12s:
-  episode_total: mean=181.94s, total=363.88s, count=2, min=160817.9ms, max=203064.9ms
-  sensor_polling: mean=533.6ms, total=294.54s, count=552, min=469.6ms, max=1049.4ms
-  physics_step: mean=26.1ms, total=14.39s, count=552, min=16.3ms, max=96.0ms
-  save_batch_prep: mean=5.31s, total=5.31s, count=1, min=5307.0ms, max=5307.0ms
-  task_sampling: mean=559.7ms, total=1.12s, count=2, min=414.5ms, max=704.9ms
-  task_specific_sample: mean=556.0ms, total=1.11s, count=2, min=411.1ms, max=701.0ms
-  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.3ms, max=2.6ms
-  mj_forward_sync: mean=444.5us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:40:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:40:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:40:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:40:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:40:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:40:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:40:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:40:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:40:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012452m	[env.py: 870]
-05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:40:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77781945  0.69053559 -0.01245242] yaw=-169.4deg	[env.py: 1019]
-05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04037157  0.94187857 -0.01245242] yaw=-155.0deg	[env.py: 1019]
-05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74240389  0.0405018  -0.01245242] yaw=151.1deg	[env.py: 1019]
-05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:40:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=164.1ms, total=164.2ms	[env.py: 1075]
-05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.778, 0.691, -0.012)	[env.py: 1079]
-05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.4 deg	[env.py: 1082]
-05/10 04:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
-05/10 04:40:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:40:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:40:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:40:05 INFO: [Worker 0] Worker 0 house 1 episode 41/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:40:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:40:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:40:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:40:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:40:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.385s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:40:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.536[m] 93.279[deg]	[grasp_sample.py: 539]
-05/10 04:40:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:40:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:40:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:40:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:40:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:41:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:41:11 INFO: [Worker 0] Worker 0 house 1 episode 41 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:41:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:41:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:41:36 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:41:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 04:41:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:41:48 INFO: [Worker 0] Worker 0 house 1 episode 41 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:41:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:41:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:41:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.61s (batch: 5.20s, save: 9.41s)	[pipeline.py: 300]
-05/10 04:41:52 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=1.56s:
-  episode_total: mean=79.44s, total=238.33s, count=3, min=3516.6ms, max=231193.6ms
-  sensor_polling: mean=583.9ms, total=175.16s, count=300, min=472.9ms, max=1096.4ms
-  save_trajectories: mean=9.41s, total=9.41s, count=1, min=9407.2ms, max=9407.2ms
-  physics_step: mean=28.8ms, total=8.64s, count=300, min=16.5ms, max=115.0ms
-  save_batch_prep: mean=5.20s, total=5.20s, count=1, min=5202.5ms, max=5202.5ms
-  task_sampling: mean=518.4ms, total=1.56s, count=3, min=450.2ms, max=573.6ms
-  task_specific_sample: mean=514.9ms, total=1.54s, count=3, min=446.8ms, max=570.7ms
-  scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.4ms, max=2.8ms
-  mj_forward_sync: mean=454.8us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=15.9us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:41:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:41:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:41:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:41:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:41:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:41:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:41:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:41:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:41:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017585m	[env.py: 870]
-05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:41:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83783149  0.23512615  0.01758527] yaw=164.8deg	[env.py: 1019]
-05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.61361462  0.39794099  0.01758527] yaw=171.3deg	[env.py: 1019]
-05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98908766  0.67828585  0.01758527] yaw=-175.3deg	[env.py: 1019]
-05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:41:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=298.1ms, total=298.1ms	[env.py: 1075]
-05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.838, 0.235, 0.018)	[env.py: 1079]
-05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.8 deg	[env.py: 1082]
-05/10 04:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
-05/10 04:41:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:41:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:41:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:41:55 INFO: [Worker 0] Worker 0 house 1 episode 42/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:41:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:41:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:41:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:41:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:41:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.506s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:41:55 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.432[m] 78.531[deg]	[grasp_sample.py: 539]
-05/10 04:41:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:41:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:41:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:42:00 INFO: [Worker 0] Worker 0 house 1 episode 37 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:42:12 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:42:12 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 04:42:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:42:21 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:42:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 04:42:21 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
-05/10 04:42:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:42:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:42:25 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.46s (batch: 4.67s, save: 8.80s)	[pipeline.py: 300]
-05/10 04:42:26 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.67s:
-  episode_total: mean=222.54s, total=222.54s, count=1, min=222542.9ms, max=222542.9ms
-  sensor_polling: mean=565.2ms, total=169.57s, count=300, min=470.3ms, max=1056.7ms
-  physics_step: mean=29.4ms, total=8.82s, count=300, min=19.4ms, max=120.0ms
-  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8796.7ms, max=8796.7ms
-  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4666.3ms, max=4666.3ms
-  task_sampling: mean=672.7ms, total=672.7ms, count=1, min=672.7ms, max=672.7ms
-  task_specific_sample: mean=667.7ms, total=667.7ms, count=1, min=667.7ms, max=667.7ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=715.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:42:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:42:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:42:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:42:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:42:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:42:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:42:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:42:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:42:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036384m	[env.py: 870]
-05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:42:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71971796  0.06526203  0.03638373] yaw=147.6deg	[env.py: 1019]
-05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81802352  0.44353125  0.03638373] yaw=180.2deg	[env.py: 1019]
-05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:42:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=441.7ms, total=441.8ms	[env.py: 1075]
-05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.720, 0.065, 0.036)	[env.py: 1079]
-05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.6 deg	[env.py: 1082]
-05/10 04:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
-05/10 04:42:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:42:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:42:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:42:28 INFO: [Worker 0] Worker 0 house 1 episode 42/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:42:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:42:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:42:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:42:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:42:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.283s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:42:32 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.598[m] 82.666[deg]	[grasp_sample.py: 539]
-05/10 04:42:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:42:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:42:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:42:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:42:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:42:36 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.91s (batch: 4.21s, save: 10.71s)	[pipeline.py: 300]
-05/10 04:42:36 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.82s:
-  episode_total: mean=204.98s, total=204.98s, count=1, min=204984.6ms, max=204984.6ms
-  sensor_polling: mean=569.1ms, total=154.78s, count=272, min=467.1ms, max=1060.8ms
-  save_trajectories: mean=10.71s, total=10.71s, count=1, min=10708.4ms, max=10708.4ms
-  physics_step: mean=29.1ms, total=7.93s, count=272, min=19.8ms, max=130.2ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4205.8ms, max=4205.8ms
-  task_sampling: mean=823.7ms, total=823.7ms, count=1, min=823.7ms, max=823.7ms
-  task_specific_sample: mean=819.2ms, total=819.2ms, count=1, min=819.2ms, max=819.2ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=556.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:42:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:42:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:42:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:42:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:42:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:42:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:42:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:42:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:42:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011600m	[env.py: 870]
-05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:42:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94120111  1.19530646  0.01160005] yaw=-142.7deg	[env.py: 1019]
-05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94370271  0.93210746  0.01160005] yaw=-155.7deg	[env.py: 1019]
-05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.64241899  0.45007783  0.01160005] yaw=168.9deg	[env.py: 1019]
-05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:42:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.9ms, total=206.9ms	[env.py: 1075]
-05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 1.195, 0.012)	[env.py: 1079]
-05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.7 deg	[env.py: 1082]
-05/10 04:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
-05/10 04:42:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:42:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:42:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:42:39 INFO: [Worker 0] Worker 0 house 1 episode 38/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:42:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:42:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:42:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:42:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:42:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:42:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.340s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:42:43 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.634[m] 87.774[deg]	[grasp_sample.py: 539]
-05/10 04:42:45 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 04:42:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:42:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:42:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:42:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:42:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:42:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:42:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:42:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:42:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:42:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:42:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048026m	[env.py: 870]
-05/10 04:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:42:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94991259  0.15724789 -0.04802606] yaw=157.1deg	[env.py: 1019]
-05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65545961  0.74270169 -0.04802606] yaw=-172.8deg	[env.py: 1019]
-05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:42:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=343.8ms, total=343.9ms	[env.py: 1075]
-05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.157, -0.048)	[env.py: 1079]
-05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.1 deg	[env.py: 1082]
-05/10 04:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
-05/10 04:42:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:42:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:42:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:42:47 INFO: [Worker 0] Worker 0 house 1 episode 39/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:42:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:42:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:42:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:42:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:42:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.305s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:42:49 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.375[m] 83.574[deg]	[grasp_sample.py: 539]
-05/10 04:42:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:42:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:42:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:42:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:42:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:43:04 INFO: [Worker 0] Worker 0 house 1 episode 41 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:43:32 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:43:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 04:43:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:43:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:43:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:43:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:43:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:43:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:43:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.27s (batch: 6.00s, save: 10.27s)	[pipeline.py: 300]
-05/10 04:43:49 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.53s:
-  episode_total: mean=225.24s, total=225.24s, count=1, min=225242.0ms, max=225242.0ms
-  sensor_polling: mean=550.9ms, total=165.28s, count=300, min=464.6ms, max=999.1ms
-  save_trajectories: mean=10.27s, total=10.27s, count=1, min=10267.8ms, max=10267.8ms
-  physics_step: mean=26.5ms, total=7.96s, count=300, min=19.0ms, max=115.7ms
-  save_batch_prep: mean=6.00s, total=6.00s, count=1, min=5997.4ms, max=5997.4ms
-  task_sampling: mean=527.7ms, total=527.7ms, count=1, min=527.7ms, max=527.7ms
-  task_specific_sample: mean=514.0ms, total=514.0ms, count=1, min=514.0ms, max=514.0ms
-  scene_randomize: mean=7.2ms, total=7.2ms, count=1, min=7.2ms, max=7.2ms
-  mj_forward_sync: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:43:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:43:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:43:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:43:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:43:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:43:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:43:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:43:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:43:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:43:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:43:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045175m	[env.py: 870]
-05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:43:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93321918  0.27359767 -0.0451745 ] yaw=169.2deg	[env.py: 1019]
-05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69415037  0.60905662 -0.0451745 ] yaw=-182.9deg	[env.py: 1019]
-05/10 04:43:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:43:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=383.2ms, total=383.2ms	[env.py: 1075]
-05/10 04:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.933, 0.274, -0.045)	[env.py: 1079]
-05/10 04:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.2 deg	[env.py: 1082]
-05/10 04:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.797m	[env.py: 1086]
-05/10 04:43:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:43:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:43:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:43:52 INFO: [Worker 0] Worker 0 house 1 episode 42/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:43:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:43:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:43:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:43:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:43:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:43:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.940s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:43:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.383[m] 93.292[deg]	[grasp_sample.py: 539]
-05/10 04:43:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:43:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:43:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:43:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:44:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:44:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:44:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:44:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:44:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:44:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:44:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:44:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:44:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:44:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:44:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:44:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:44:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:44:35 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.751s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:44:35 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.105[deg]	[grasp_sample.py: 539]
-05/10 04:44:37 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 04:44:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:44:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:44:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:44:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:44:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:44:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:44:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:44:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:44:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000471m	[env.py: 870]
-05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:44:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09122741e+00  9.43362356e-01  4.71402162e-04] yaw=-133.9deg	[env.py: 1019]
-05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03244193e+00  6.94991994e-01  4.71402162e-04] yaw=-164.9deg	[env.py: 1019]
-05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06621554e+00  1.09711463e+00  4.71402162e-04] yaw=-135.9deg	[env.py: 1019]
-05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:44:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=339.6ms, total=339.6ms	[env.py: 1075]
-05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.091, 0.943, 0.000)	[env.py: 1079]
-05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.9 deg	[env.py: 1082]
-05/10 04:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
-05/10 04:44:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:44:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:44:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:44:40 INFO: [Worker 0] Worker 0 house 1 episode 43/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:44:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:44:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:44:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:44:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:44:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.822s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:44:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.368[m] 91.352[deg]	[grasp_sample.py: 539]
-05/10 04:44:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:44:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:44:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:44:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:44:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:44:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:45:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:45:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:45:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:45:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:45:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:45:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:45:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:45:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:45:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:45:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:45:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:45:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:45:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:45:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:45:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:45:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:45:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:45:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:45:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:45:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:45:38 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.069s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:45:38 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.324[deg]	[grasp_sample.py: 539]
-05/10 04:45:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:45:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:45:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:45:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:45:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:45:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:45:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:45:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:45:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:45:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:45:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:45:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:45:43 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.484s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:45:43 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.207[deg]	[grasp_sample.py: 539]
-05/10 04:45:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:45:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:45:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:45:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:45:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:45:52 INFO: [Worker 0] Worker 0 house 1 episode 42 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:46:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:46:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:46:19 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:46:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 04:46:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:46:22 INFO: [Worker 0] Worker 0 house 1 episode 39 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:46:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:46:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:46:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.71s (batch: 4.80s, save: 9.91s)	[pipeline.py: 300]
-05/10 04:46:34 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=0.77s:
-  episode_total: mean=246.52s, total=246.52s, count=1, min=246522.1ms, max=246522.1ms
-  sensor_polling: mean=570.1ms, total=171.03s, count=300, min=472.6ms, max=948.5ms
-  save_trajectories: mean=9.91s, total=9.91s, count=1, min=9910.5ms, max=9910.5ms
-  physics_step: mean=28.4ms, total=8.51s, count=300, min=18.6ms, max=113.4ms
-  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4796.0ms, max=4796.0ms
-  task_sampling: mean=771.2ms, total=771.2ms, count=1, min=771.2ms, max=771.2ms
-  task_specific_sample: mean=762.4ms, total=762.4ms, count=1, min=762.4ms, max=762.4ms
-  mj_forward_sync: mean=4.7ms, total=4.7ms, count=1, min=4.7ms, max=4.7ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:46:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:46:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:46:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:46:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:46:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:46:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:46:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:46:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:46:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030137m	[env.py: 870]
-05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:46:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83056048  0.52176021  0.03013694] yaw=-185.8deg	[env.py: 1019]
-05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01442526  0.66715754  0.03013694] yaw=-172.2deg	[env.py: 1019]
-05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:46:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.5ms, total=215.5ms	[env.py: 1075]
-05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.831, 0.522, 0.030)	[env.py: 1079]
-05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.8 deg	[env.py: 1082]
-05/10 04:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m	[env.py: 1086]
-05/10 04:46:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:46:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:46:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:46:36 INFO: [Worker 0] Worker 0 house 1 episode 43/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:46:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:46:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:46:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:46:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:46:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.498s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:46:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.462[m] 95.179[deg]	[grasp_sample.py: 539]
-05/10 04:46:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:46:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:46:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:46:46 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:46:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 04:46:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:47:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:47:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:47:01 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.92s (batch: 4.77s, save: 10.15s)	[pipeline.py: 300]
-05/10 04:47:01 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=1.24s:
-  episode_total: mean=130.62s, total=261.24s, count=2, min=6352.8ms, max=254888.1ms
-  sensor_polling: mean=576.3ms, total=172.89s, count=300, min=480.3ms, max=1016.1ms
-  save_trajectories: mean=10.15s, total=10.15s, count=1, min=10147.3ms, max=10147.3ms
-  physics_step: mean=29.5ms, total=8.84s, count=300, min=19.2ms, max=135.3ms
-  save_batch_prep: mean=4.77s, total=4.77s, count=1, min=4768.0ms, max=4768.0ms
-  task_sampling: mean=622.1ms, total=1.24s, count=2, min=602.7ms, max=641.4ms
-  task_specific_sample: mean=618.1ms, total=1.24s, count=2, min=597.8ms, max=638.4ms
-  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.2ms, max=3.3ms
-  mj_forward_sync: mean=486.9us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:47:01 INFO: [Worker 0] Worker 0 house 1 episode 42 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:47:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:47:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:47:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:47:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:47:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:47:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:47:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:47:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:47:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037491m	[env.py: 870]
-05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:47:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0830431   1.10468114  0.03749101] yaw=-133.3deg	[env.py: 1019]
-05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05185446  0.97003138  0.03749101] yaw=-143.0deg	[env.py: 1019]
-05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78947994  0.33455291  0.03749101] yaw=174.2deg	[env.py: 1019]
-05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:47:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.8ms, total=106.8ms	[env.py: 1075]
-05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.083, 1.105, 0.037)	[env.py: 1079]
-05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.3 deg	[env.py: 1082]
-05/10 04:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
-05/10 04:47:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:47:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:47:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:47:04 INFO: [Worker 0] Worker 0 house 1 episode 40/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:47:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:47:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:47:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:47:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:47:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.195s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:47:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.455[m] 95.608[deg]	[grasp_sample.py: 539]
-05/10 04:47:06 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 04:47:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:47:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:47:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:47:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:47:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:47:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:47:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031326m	[env.py: 870]
-05/10 04:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:47:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69062488  0.0687461  -0.03132611] yaw=154.2deg	[env.py: 1019]
-05/10 04:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87336386  0.18639947 -0.03132611] yaw=160.5deg	[env.py: 1019]
-05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99629134  0.75650505 -0.03132611] yaw=-158.0deg	[env.py: 1019]
-05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:47:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=329.9ms, total=330.0ms	[env.py: 1075]
-05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.069, -0.031)	[env.py: 1079]
-05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.2 deg	[env.py: 1082]
-05/10 04:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m	[env.py: 1086]
-05/10 04:47:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:47:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:47:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:47:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:47:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:47:09 INFO: [Worker 0] Worker 0 house 1 episode 41/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:47:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:47:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:47:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:47:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:47:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.432s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:47:13 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.651[m] 88.869[deg]	[grasp_sample.py: 539]
-05/10 04:47:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:47:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:47:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:47:30 INFO: [Worker 0] Worker 0 house 1 episode 43 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:47:30 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:47:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 04:47:30 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/10 04:47:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:47:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:47:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:47:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:47:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.25s (batch: 5.18s, save: 10.07s)	[pipeline.py: 300]
-05/10 04:47:46 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=0.70s:
-  episode_total: mean=234.99s, total=234.99s, count=1, min=234994.0ms, max=234994.0ms
-  sensor_polling: mean=556.9ms, total=166.52s, count=299, min=472.7ms, max=899.9ms
-  save_trajectories: mean=10.07s, total=10.07s, count=1, min=10069.7ms, max=10069.7ms
-  physics_step: mean=29.4ms, total=8.80s, count=299, min=20.1ms, max=102.3ms
-  save_batch_prep: mean=5.18s, total=5.18s, count=1, min=5182.5ms, max=5182.5ms
-  task_sampling: mean=698.1ms, total=698.1ms, count=1, min=698.1ms, max=698.1ms
-  task_specific_sample: mean=694.2ms, total=694.2ms, count=1, min=694.2ms, max=694.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=423.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:47:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:47:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:47:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:47:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:47:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:47:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:47:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:47:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:47:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:47:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011432m	[env.py: 870]
-05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:47:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03196644  1.02882313 -0.01143163] yaw=-142.8deg	[env.py: 1019]
-05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85240562  0.85533248 -0.01143163] yaw=-166.0deg	[env.py: 1019]
-05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99286131  0.54132593 -0.01143163] yaw=-170.8deg	[env.py: 1019]
-05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:47:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.7ms, total=149.8ms	[env.py: 1075]
-05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.032, 1.029, -0.011)	[env.py: 1079]
-05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.8 deg	[env.py: 1082]
-05/10 04:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
-05/10 04:47:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:47:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:47:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:47:48 INFO: [Worker 0] Worker 0 house 1 episode 43/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:47:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:47:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:47:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:47:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:47:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.631s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:47:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.459[m] 90.444[deg]	[grasp_sample.py: 539]
-05/10 04:47:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:47:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:47:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:47:58 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:47:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 04:47:58 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
-05/10 04:48:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:48:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:48:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.69s (batch: 5.02s, save: 11.66s)	[pipeline.py: 300]
-05/10 04:48:15 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=1.27s:
-  episode_total: mean=189.75s, total=379.50s, count=2, min=163102.8ms, max=216401.9ms
-  sensor_polling: mean=549.0ms, total=293.72s, count=535, min=455.0ms, max=966.7ms
-  physics_step: mean=26.8ms, total=14.36s, count=535, min=19.1ms, max=122.7ms
-  save_trajectories: mean=11.66s, total=11.66s, count=1, min=11664.6ms, max=11664.6ms
-  save_batch_prep: mean=5.02s, total=5.02s, count=1, min=5024.2ms, max=5024.2ms
-  task_sampling: mean=633.6ms, total=1.27s, count=2, min=610.9ms, max=656.3ms
-  task_specific_sample: mean=629.6ms, total=1.26s, count=2, min=606.9ms, max=652.4ms
-  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.8ms, max=2.7ms
-  mj_forward_sync: mean=505.4us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:48:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:48:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:48:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:48:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:48:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:48:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:48:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:48:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:48:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:48:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:48:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015809m	[env.py: 870]
-05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:48:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01525683  0.90754999 -0.0158092 ] yaw=-150.9deg	[env.py: 1019]
-05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90723485  0.08224699 -0.0158092 ] yaw=152.1deg	[env.py: 1019]
-05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95975183  0.7245671  -0.0158092 ] yaw=-168.8deg	[env.py: 1019]
-05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:48:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.8ms, total=87.8ms	[env.py: 1075]
-05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.015, 0.908, -0.016)	[env.py: 1079]
-05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.9 deg	[env.py: 1082]
-05/10 04:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
-05/10 04:48:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:48:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:48:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:48:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:48:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:48:18 INFO: [Worker 0] Worker 0 house 1 episode 44/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:48:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:48:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:48:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:48:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:48:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.655s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:48:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.339[m] 77.525[deg]	[grasp_sample.py: 539]
-05/10 04:48:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:48:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:48:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:48:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:48:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:48:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:48:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:48:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:48:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:48:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:49:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:49:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:49:35 INFO: [Worker 0] Worker 0 house 1 episode 43 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:50:08 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:50:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 04:50:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:50:21 INFO: [Worker 0] Worker 0 house 1 episode 41 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:50:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:50:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:50:25 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.56s (batch: 5.54s, save: 11.02s)	[pipeline.py: 300]
-05/10 04:50:25 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.53s:
-  episode_total: mean=229.45s, total=229.45s, count=1, min=229454.3ms, max=229454.3ms
-  sensor_polling: mean=550.3ms, total=165.08s, count=300, min=466.2ms, max=968.2ms
-  save_trajectories: mean=11.02s, total=11.02s, count=1, min=11024.3ms, max=11024.3ms
-  physics_step: mean=29.6ms, total=8.88s, count=300, min=17.1ms, max=133.1ms
-  save_batch_prep: mean=5.54s, total=5.54s, count=1, min=5540.4ms, max=5540.4ms
-  task_sampling: mean=525.8ms, total=525.8ms, count=1, min=525.8ms, max=525.8ms
-  task_specific_sample: mean=521.7ms, total=521.7ms, count=1, min=521.7ms, max=521.7ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=430.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:50:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:50:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:50:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:50:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:50:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:50:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:50:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:50:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:50:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045914m	[env.py: 870]
-05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:50:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87074606  0.43119577 -0.04591368] yaw=187.3deg	[env.py: 1019]
-05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76538088  0.82101223 -0.04591368] yaw=-159.8deg	[env.py: 1019]
-05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04133145  0.18244201 -0.04591368] yaw=154.6deg	[env.py: 1019]
-05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:50:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.1ms, total=119.2ms	[env.py: 1075]
-05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.431, -0.046)	[env.py: 1079]
-05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.3 deg	[env.py: 1082]
-05/10 04:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
-05/10 04:50:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:50:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:50:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:50:28 INFO: [Worker 0] Worker 0 house 1 episode 44/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:50:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:50:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:50:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:50:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:50:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:50:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.404[m] 88.647[deg]	[grasp_sample.py: 539]
-05/10 04:50:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:50:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:50:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:50:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:50:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:50:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:50:50 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:50:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 04:50:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:50:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:50:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:50:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:50:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:50:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:50:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:50:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:50:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:50:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:50:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:51:00 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.758s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:51:00 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.250[deg]	[grasp_sample.py: 539]
-05/10 04:51:02 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 04:51:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:51:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:51:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:51:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:51:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:51:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:51:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006554m	[env.py: 870]
-05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:51:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93965657  0.50555391 -0.00655364] yaw=-176.3deg	[env.py: 1019]
-05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04717283  0.88905266 -0.00655364] yaw=-138.3deg	[env.py: 1019]
-05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78873323  0.92077349 -0.00655364] yaw=-161.6deg	[env.py: 1019]
-05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:51:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.7ms, total=118.8ms	[env.py: 1075]
-05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.506, -0.007)	[env.py: 1079]
-05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.3 deg	[env.py: 1082]
-05/10 04:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.763m	[env.py: 1086]
-05/10 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:51:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:51:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:51:04 INFO: [Worker 0] Worker 0 house 1 episode 44/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:51:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:51:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:51:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:51:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:51:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.464s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:51:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.335[m] 91.218[deg]	[grasp_sample.py: 539]
-05/10 04:51:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:51:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:51:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:51:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.63s (batch: 4.60s, save: 11.03s)	[pipeline.py: 300]
-05/10 04:51:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:51:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:51:06 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=1.07s:
-  episode_total: mean=120.50s, total=240.99s, count=2, min=3253.1ms, max=237739.3ms
-  sensor_polling: mean=576.6ms, total=172.99s, count=300, min=481.3ms, max=971.1ms
-  save_trajectories: mean=11.03s, total=11.03s, count=1, min=11027.5ms, max=11027.5ms
-  physics_step: mean=28.7ms, total=8.62s, count=300, min=19.5ms, max=145.6ms
-  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4602.5ms, max=4602.5ms
-  task_sampling: mean=536.9ms, total=1.07s, count=2, min=461.4ms, max=612.4ms
-  task_specific_sample: mean=532.9ms, total=1.07s, count=2, min=457.2ms, max=608.5ms
-  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.7ms, max=2.8ms
-  mj_forward_sync: mean=566.6us, total=1.1ms, count=2, min=0.5ms, max=0.7ms
-  policy_setup: mean=20.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:51:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:51:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:51:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:51:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:51:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:51:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:51:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:51:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:51:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:51:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:51:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032206m	[env.py: 870]
-05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:51:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82652304  0.67384531  0.03220569] yaw=-160.3deg	[env.py: 1019]
-05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95198587  1.21267726  0.03220569] yaw=-128.5deg	[env.py: 1019]
-05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67141257  0.6465223   0.03220569] yaw=-164.7deg	[env.py: 1019]
-05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:51:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.9ms, total=160.9ms	[env.py: 1075]
-05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.827, 0.674, 0.032)	[env.py: 1079]
-05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.3 deg	[env.py: 1082]
-05/10 04:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
-05/10 04:51:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:51:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:51:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:51:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:51:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:51:08 INFO: [Worker 0] Worker 0 house 1 episode 42/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:51:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:51:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:51:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:51:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:51:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.537s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:51:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.488[m] 91.901[deg]	[grasp_sample.py: 539]
-05/10 04:51:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:51:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:51:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:51:13 INFO: [Worker 0] Worker 0 house 1 episode 44 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:51:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:51:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:51:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:51:37 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:51:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 04:51:37 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
-05/10 04:51:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:51:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:51:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:51:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.54s (batch: 4.48s, save: 11.05s)	[pipeline.py: 300]
-05/10 04:51:54 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.45s:
-  episode_total: mean=216.60s, total=216.60s, count=1, min=216597.6ms, max=216597.6ms
-  sensor_polling: mean=562.7ms, total=162.05s, count=288, min=473.3ms, max=1021.5ms
-  save_trajectories: mean=11.05s, total=11.05s, count=1, min=11054.9ms, max=11054.9ms
-  physics_step: mean=29.3ms, total=8.45s, count=288, min=16.2ms, max=136.3ms
-  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4483.3ms, max=4483.3ms
-  task_sampling: mean=451.3ms, total=451.3ms, count=1, min=451.3ms, max=451.3ms
-  task_specific_sample: mean=447.1ms, total=447.1ms, count=1, min=447.1ms, max=447.1ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=461.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=43.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:51:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:51:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:51:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:51:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:51:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:51:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:51:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:51:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:51:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:51:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021519m	[env.py: 870]
-05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:51:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96001585  0.52797541 -0.02151895] yaw=-177.4deg	[env.py: 1019]
-05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78972334  0.62431178 -0.02151895] yaw=-164.4deg	[env.py: 1019]
-05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73745689  0.36792713 -0.02151895] yaw=164.1deg	[env.py: 1019]
-05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:51:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.0ms, total=128.1ms	[env.py: 1075]
-05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.960, 0.528, -0.022)	[env.py: 1079]
-05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.4 deg	[env.py: 1082]
-05/10 04:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.744m	[env.py: 1086]
-05/10 04:51:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:51:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:51:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:51:56 INFO: [Worker 0] Worker 0 house 1 episode 45/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:51:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:51:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:51:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:51:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:51:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.560s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:51:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.287[m] 86.671[deg]	[grasp_sample.py: 539]
-05/10 04:51:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:51:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:51:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:52:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:52:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:52:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:52:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:52:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:52:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:52:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:53:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:53:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:53:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:53:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:53:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:53:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:53:33 INFO: [Worker 0] Worker 0 house 1 episode 44 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:53:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:53:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:53:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:53:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:53:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:53:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:53:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:53:36 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.513s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:53:36 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.489[deg]	[grasp_sample.py: 539]
-05/10 04:53:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:53:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:53:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:53:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:53:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:54:01 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:54:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 04:54:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:54:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:54:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:54:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:54:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:54:10 INFO: [Worker 0] Worker 0 house 1 episode 42 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:54:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:54:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:54:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:54:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:54:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:54:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:54:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:54:14 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.636s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:54:14 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.546[deg]	[grasp_sample.py: 539]
-05/10 04:54:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:54:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:54:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:54:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:54:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:54:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.20s (batch: 5.37s, save: 10.83s)	[pipeline.py: 300]
-05/10 04:54:18 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.47s:
-  episode_total: mean=230.92s, total=230.92s, count=1, min=230916.2ms, max=230916.2ms
-  sensor_polling: mean=568.0ms, total=170.40s, count=300, min=474.5ms, max=964.7ms
-  save_trajectories: mean=10.83s, total=10.83s, count=1, min=10831.2ms, max=10831.2ms
-  physics_step: mean=27.1ms, total=8.13s, count=300, min=20.0ms, max=63.7ms
-  save_batch_prep: mean=5.37s, total=5.37s, count=1, min=5369.8ms, max=5369.8ms
-  task_sampling: mean=473.3ms, total=473.3ms, count=1, min=473.3ms, max=473.3ms
-  task_specific_sample: mean=467.9ms, total=467.9ms, count=1, min=467.9ms, max=467.9ms
-  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
-  mj_forward_sync: mean=657.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:54:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:54:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:54:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:54:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:54:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:54:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:54:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039616m	[env.py: 870]
-05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:54:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71475411  0.01285103  0.03961643] yaw=146.6deg	[env.py: 1019]
-05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85014924  0.07132043  0.03961643] yaw=153.2deg	[env.py: 1019]
-05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76992136  0.25438027  0.03961643] yaw=172.9deg	[env.py: 1019]
-05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:54:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=234.1ms, total=234.1ms	[env.py: 1075]
-05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.013, 0.040)	[env.py: 1079]
-05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.6 deg	[env.py: 1082]
-05/10 04:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m	[env.py: 1086]
-05/10 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:54:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:54:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:54:20 INFO: [Worker 0] Worker 0 house 1 episode 45/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:54:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:54:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:54:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:54:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:54:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.873s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:54:22 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.658[m] 90.942[deg]	[grasp_sample.py: 539]
-05/10 04:54:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:54:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:54:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:54:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:54:36 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:54:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 04:54:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:54:41 INFO: [Worker 0] Worker 0 house 1 episode 44 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:54:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:54:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:54:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:54:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:54:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.26s (batch: 5.23s, save: 10.03s)	[pipeline.py: 300]
-05/10 04:54:52 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=0.46s:
-  episode_total: mean=224.46s, total=224.46s, count=1, min=224455.1ms, max=224455.1ms
-  sensor_polling: mean=560.3ms, total=168.08s, count=300, min=465.4ms, max=1008.9ms
-  save_trajectories: mean=10.03s, total=10.03s, count=1, min=10033.5ms, max=10033.5ms
-  physics_step: mean=28.2ms, total=8.45s, count=300, min=16.2ms, max=117.8ms
-  save_batch_prep: mean=5.23s, total=5.23s, count=1, min=5227.7ms, max=5227.7ms
-  task_sampling: mean=463.7ms, total=463.7ms, count=1, min=463.7ms, max=463.7ms
-  task_specific_sample: mean=459.4ms, total=459.4ms, count=1, min=459.4ms, max=459.4ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=507.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:54:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:54:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:54:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:54:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:54:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:54:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:54:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:54:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:54:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:54:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:54:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002800m	[env.py: 870]
-05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:54:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66421343  0.34171279  0.00279967] yaw=176.7deg	[env.py: 1019]
-05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.2432032   1.05611396  0.00279967] yaw=-120.2deg	[env.py: 1019]
-05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10843662  1.06487179  0.00279967] yaw=-141.6deg	[env.py: 1019]
-05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:54:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.9ms, total=136.9ms	[env.py: 1075]
-05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.664, 0.342, 0.003)	[env.py: 1079]
-05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.7 deg	[env.py: 1082]
-05/10 04:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m	[env.py: 1086]
-05/10 04:54:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:54:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:54:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:54:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:54:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:54:55 INFO: [Worker 0] Worker 0 house 1 episode 43/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:54:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:54:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:54:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:54:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:54:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.631s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:54:55 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.622[m] 94.049[deg]	[grasp_sample.py: 539]
-05/10 04:54:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:54:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:54:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:55:06 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:55:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 04:55:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:55:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:55:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:55:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.01s (batch: 4.38s, save: 9.63s)	[pipeline.py: 300]
-05/10 04:55:20 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.89s:
-  episode_total: mean=225.01s, total=450.01s, count=2, min=193653.0ms, max=256357.9ms
-  sensor_polling: mean=559.0ms, total=330.93s, count=592, min=463.4ms, max=1002.1ms
-  physics_step: mean=28.6ms, total=16.93s, count=592, min=16.5ms, max=111.5ms
-  save_trajectories: mean=9.63s, total=9.63s, count=1, min=9631.3ms, max=9631.3ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4379.7ms, max=4379.7ms
-  task_sampling: mean=442.7ms, total=885.5ms, count=2, min=436.3ms, max=449.2ms
-  task_specific_sample: mean=438.6ms, total=877.1ms, count=2, min=432.1ms, max=445.0ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.9ms, max=2.7ms
-  mj_forward_sync: mean=587.7us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
-  policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:55:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:55:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:55:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:55:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:55:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:55:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:55:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:55:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:55:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:55:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:55:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017650m	[env.py: 870]
-05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:55:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84203829  1.13237247  0.01765014] yaw=-143.4deg	[env.py: 1019]
-05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:55:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.03359746  0.95817376  0.01765014] yaw=-141.6deg	[env.py: 1019]
-05/10 04:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.64348194  0.29876579  0.01765014] yaw=165.2deg	[env.py: 1019]
-05/10 04:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:55:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=329.5ms, total=329.6ms	[env.py: 1075]
-05/10 04:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.842, 1.132, 0.018)	[env.py: 1079]
-05/10 04:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.4 deg	[env.py: 1082]
-05/10 04:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
-05/10 04:55:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:55:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:55:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:55:23 INFO: [Worker 0] Worker 0 house 1 episode 45/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:55:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.149s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:55:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:55:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:55:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:55:24 INFO: [Worker 0] Worker 0 house 1 episode 45 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:55:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 16.491s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:55:40 INFO: [Worker 0] Feasible grasp found 188 (originally 73): w/ 0.690[m] 98.082[deg]	[grasp_sample.py: 539]
-05/10 04:55:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:55:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:55:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:55:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:55:50 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:55:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 04:55:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:55:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:55:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:56:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:56:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:56:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.80s (batch: 4.57s, save: 10.23s)	[pipeline.py: 300]
-05/10 04:56:05 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=0.46s:
-  episode_total: mean=249.63s, total=249.63s, count=1, min=249634.8ms, max=249634.8ms
-  sensor_polling: mean=560.3ms, total=168.09s, count=300, min=467.8ms, max=939.8ms
-  save_trajectories: mean=10.23s, total=10.23s, count=1, min=10232.9ms, max=10232.9ms
-  physics_step: mean=26.8ms, total=8.03s, count=300, min=16.7ms, max=88.3ms
-  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4567.4ms, max=4567.4ms
-  task_sampling: mean=463.7ms, total=463.7ms, count=1, min=463.7ms, max=463.7ms
-  task_specific_sample: mean=459.2ms, total=459.2ms, count=1, min=459.2ms, max=459.2ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=498.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=30.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:56:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:56:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:56:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:56:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:56:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:56:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:56:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:56:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:56:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046414m	[env.py: 870]
-05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:56:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02772026  1.22135784 -0.04641427] yaw=-130.8deg	[env.py: 1019]
-05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83190738  0.95089148 -0.04641427] yaw=-152.2deg	[env.py: 1019]
-05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97170321  0.28725012 -0.04641427] yaw=165.5deg	[env.py: 1019]
-05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:56:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=319.1ms, total=319.1ms	[env.py: 1075]
-05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.028, 1.221, -0.046)	[env.py: 1079]
-05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.8 deg	[env.py: 1082]
-05/10 04:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
-05/10 04:56:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:56:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:56:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:56:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:56:08 INFO: [Worker 0] Worker 0 house 1 episode 46/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:56:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:56:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:56:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:56:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:56:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.296s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:56:11 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.605[m] 97.688[deg]	[grasp_sample.py: 539]
-05/10 04:56:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:56:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:56:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:56:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:56:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:56:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:56:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:56:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:56:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:56:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:56:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:56:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:57:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:57:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:57:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:57:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:57:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:57:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:57:03 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.861s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:57:03 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.314[deg]	[grasp_sample.py: 539]
-05/10 04:57:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:57:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:57:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:57:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:57:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:57:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:57:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:57:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:57:25 INFO: [Worker 0] Worker 0 house 1 episode 45 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:57:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:57:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:57:37 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 04:57:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:57:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:57:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:57:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:57:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:57:39 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.668s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:57:39 INFO: [Worker 0] Feasible grasp found 133 (originally 18): w/ 0.050[m] 0.491[deg]	[grasp_sample.py: 539]
-05/10 04:57:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:57:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:57:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:57:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:57:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:57:49 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:57:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 04:57:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:57:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:58:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:58:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:58:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:58:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.38s (batch: 4.65s, save: 10.73s)	[pipeline.py: 300]
-05/10 04:58:05 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=0.55s:
-  episode_total: mean=225.68s, total=225.68s, count=1, min=225678.0ms, max=225678.0ms
-  sensor_polling: mean=562.5ms, total=168.76s, count=300, min=465.6ms, max=964.0ms
-  save_trajectories: mean=10.73s, total=10.73s, count=1, min=10733.5ms, max=10733.5ms
-  physics_step: mean=29.4ms, total=8.82s, count=300, min=19.2ms, max=138.4ms
-  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4647.5ms, max=4647.5ms
-  task_sampling: mean=552.3ms, total=552.3ms, count=1, min=552.3ms, max=552.3ms
-  task_specific_sample: mean=548.1ms, total=548.1ms, count=1, min=548.1ms, max=548.1ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=463.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:58:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:58:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:58:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:58:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:58:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:58:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:58:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:58:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:58:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001018m	[env.py: 870]
-05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:58:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03549490e+00  1.00748006e+00 -1.01784207e-03] yaw=-130.6deg	[env.py: 1019]
-05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09464613e+00  8.99224056e-01 -1.01784207e-03] yaw=-144.8deg	[env.py: 1019]
-05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00617994e+00  1.24729845e+00 -1.01784207e-03] yaw=-122.0deg	[env.py: 1019]
-05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:58:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.2ms, total=123.2ms	[env.py: 1075]
-05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.035, 1.007, -0.001)	[env.py: 1079]
-05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.6 deg	[env.py: 1082]
-05/10 04:58:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
-05/10 04:58:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:58:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:58:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:58:08 INFO: [Worker 0] Worker 0 house 1 episode 46/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:58:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:58:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:58:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:58:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:58:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.589s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:58:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.387[m] 78.387[deg]	[grasp_sample.py: 539]
-05/10 04:58:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:58:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:58:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:58:24 INFO: [Worker 0] Worker 0 house 1 episode 43 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 04:58:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:58:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:58:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:58:39 INFO: [Worker 0] Worker 0 house 1 episode 45 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 04:58:39 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=False episode_total=0.66s:
-  episode_total: mean=196.33s, total=196.33s, count=1, min=196331.1ms, max=196331.1ms
-  sensor_polling: mean=549.0ms, total=164.71s, count=300, min=457.5ms, max=998.0ms
-  physics_step: mean=27.7ms, total=8.32s, count=300, min=20.1ms, max=131.7ms
-  task_sampling: mean=655.6ms, total=655.6ms, count=1, min=655.6ms, max=655.6ms
-  task_specific_sample: mean=651.3ms, total=651.3ms, count=1, min=651.3ms, max=651.3ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=528.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:58:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:58:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:58:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:58:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:58:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:58:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:58:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:58:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019692m	[env.py: 870]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:58:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84676346  0.83073873 -0.01969186] yaw=-156.3deg	[env.py: 1019]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81310872  0.81473229 -0.01969186] yaw=-165.4deg	[env.py: 1019]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88944277  0.19274425 -0.01969186] yaw=152.1deg	[env.py: 1019]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:58:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=259.8ms, total=259.9ms	[env.py: 1075]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.831, -0.020)	[env.py: 1079]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.3 deg	[env.py: 1082]
-05/10 04:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
-05/10 04:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:58:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:58:41 INFO: [Worker 0] Worker 0 house 1 episode 46/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:58:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:58:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:58:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:58:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:58:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:58:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.780s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:58:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.471[m] 84.763[deg]	[grasp_sample.py: 539]
-05/10 04:58:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:58:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:58:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:58:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:58:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:58:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 04:58:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 04:58:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 04:58:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:58:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:58:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:58:48 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 04:58:48 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 04:58:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 04:58:49 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.711s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 04:58:49 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 04:58:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:58:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:58:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:58:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:58:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:58:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:58:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:58:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:58:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:58:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034171m	[env.py: 870]
-05/10 04:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:58:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84412317  0.95110012  0.03417116] yaw=-156.4deg	[env.py: 1019]
-05/10 04:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80271131  0.76102603  0.03417116] yaw=-164.7deg	[env.py: 1019]
-05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87515646  0.84736304  0.03417116] yaw=-166.8deg	[env.py: 1019]
-05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:58:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.5ms, total=120.5ms	[env.py: 1075]
-05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.844, 0.951, 0.034)	[env.py: 1079]
-05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.4 deg	[env.py: 1082]
-05/10 04:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
-05/10 04:58:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:58:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:58:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:58:51 INFO: [Worker 0] Worker 0 house 1 episode 47/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:58:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:58:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:58:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:58:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:58:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.169s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:58:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.530[m] 89.150[deg]	[grasp_sample.py: 539]
-05/10 04:58:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:58:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:58:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:59:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:59:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 04:59:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 04:59:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.73s (batch: 4.64s, save: 11.09s)	[pipeline.py: 300]
-05/10 04:59:05 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.49s:
-  episode_total: mean=250.39s, total=250.39s, count=1, min=250392.6ms, max=250392.6ms
-  sensor_polling: mean=551.6ms, total=165.49s, count=300, min=471.1ms, max=1188.6ms
-  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11093.2ms, max=11093.2ms
-  physics_step: mean=26.3ms, total=7.89s, count=300, min=19.5ms, max=120.3ms
-  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4640.1ms, max=4640.1ms
-  task_sampling: mean=494.1ms, total=494.1ms, count=1, min=494.1ms, max=494.1ms
-  task_specific_sample: mean=489.9ms, total=489.9ms, count=1, min=489.9ms, max=489.9ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=472.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 04:59:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 04:59:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 04:59:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 04:59:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:59:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:59:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 04:59:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 04:59:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 04:59:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044369m	[env.py: 870]
-05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 04:59:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95453291  0.89471397  0.04436861] yaw=-147.5deg	[env.py: 1019]
-05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.1794718   1.05408686  0.04436861] yaw=-122.8deg	[env.py: 1019]
-05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 04:59:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.07505778  0.1395755   0.04436861] yaw=144.0deg	[env.py: 1019]
-05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 04:59:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.1ms, total=189.1ms	[env.py: 1075]
-05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.955, 0.895, 0.044)	[env.py: 1079]
-05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.5 deg	[env.py: 1082]
-05/10 04:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m	[env.py: 1086]
-05/10 04:59:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 04:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 04:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 04:59:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 04:59:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 04:59:07 INFO: [Worker 0] Worker 0 house 1 episode 44/240 collected=0/40	[pipeline.py: 1044]
-05/10 04:59:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.171s	[base_object_manipulation_planner_policy.py: 377]
-05/10 04:59:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 04:59:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 04:59:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 04:59:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.526s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 04:59:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.446[m] 89.640[deg]	[grasp_sample.py: 539]
-05/10 04:59:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 04:59:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 04:59:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:59:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:59:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 04:59:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 04:59:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:00:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:00:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:00:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:00:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:00:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:01:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:01:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:01:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:01:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:01:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:01:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:01:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:01:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:01:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:01:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:01:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:01:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:01:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:01:18 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.859s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:01:18 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.484[deg]	[grasp_sample.py: 539]
-05/10 05:01:19 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 05:01:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:01:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:01:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:01:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:01:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:01:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:01:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:01:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:01:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:01:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:01:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027065m	[env.py: 870]
-05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:01:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91018292  0.31062097  0.02706491] yaw=166.8deg	[env.py: 1019]
-05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.75933258  0.99724968  0.02706491] yaw=-145.8deg	[env.py: 1019]
-05/10 05:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:01:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=493.8ms, total=493.8ms	[env.py: 1075]
-05/10 05:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.311, 0.027)	[env.py: 1079]
-05/10 05:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.8 deg	[env.py: 1082]
-05/10 05:01:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
-05/10 05:01:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:01:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:01:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:01:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:01:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:01:22 INFO: [Worker 0] Worker 0 house 1 episode 47/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:01:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:01:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:01:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:01:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.159s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:01:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.012s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:01:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.340[m] 87.445[deg]	[grasp_sample.py: 539]
-05/10 05:01:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:01:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:01:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:01:45 INFO: [Worker 0] Worker 0 house 1 episode 46 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:01:58 INFO: [Worker 0] Worker 0 house 1 episode 47 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:02:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:02:10 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:02:10 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 05:02:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:02:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:02:14 INFO: [Worker 0] Worker 0 house 1 episode 44 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:02:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:02:23 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:02:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 05:02:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:02:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:02:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:02:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.59s (batch: 4.36s, save: 9.23s)	[pipeline.py: 300]
-05/10 05:02:25 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=0.58s:
-  episode_total: mean=224.23s, total=224.23s, count=1, min=224234.4ms, max=224234.4ms
-  sensor_polling: mean=564.5ms, total=169.36s, count=300, min=459.0ms, max=1063.4ms
-  save_trajectories: mean=9.23s, total=9.23s, count=1, min=9232.8ms, max=9232.8ms
-  physics_step: mean=28.2ms, total=8.46s, count=300, min=18.9ms, max=115.7ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4358.3ms, max=4358.3ms
-  task_sampling: mean=577.3ms, total=577.3ms, count=1, min=577.3ms, max=577.3ms
-  task_specific_sample: mean=572.8ms, total=572.8ms, count=1, min=572.8ms, max=572.8ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=709.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:02:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:02:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:02:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:02:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:02:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:02:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:02:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:02:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:02:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:02:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:02:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016054m	[env.py: 870]
-05/10 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:02:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.733447    0.09144271  0.0160542 ] yaw=149.8deg	[env.py: 1019]
-05/10 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:02:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99268035  0.59242144  0.0160542 ] yaw=-173.4deg	[env.py: 1019]
-05/10 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75754106  0.08584057  0.0160542 ] yaw=149.1deg	[env.py: 1019]
-05/10 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:02:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.4ms, total=115.4ms	[env.py: 1075]
-05/10 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.733, 0.091, 0.016)	[env.py: 1079]
-05/10 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.8 deg	[env.py: 1082]
-05/10 05:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
-05/10 05:02:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:02:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:02:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:02:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:02:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:02:27 INFO: [Worker 0] Worker 0 house 1 episode 47/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:02:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:02:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:02:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:02:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:02:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.645s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:02:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.583[m] 92.368[deg]	[grasp_sample.py: 539]
-05/10 05:02:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:02:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:02:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:02:37 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:02:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 05:02:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:02:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:02:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:02:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.35s (batch: 4.46s, save: 9.88s)	[pipeline.py: 300]
-05/10 05:02:38 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=1.04s:
-  episode_total: mean=194.73s, total=389.46s, count=2, min=161609.3ms, max=227851.5ms
-  sensor_polling: mean=564.1ms, total=306.86s, count=544, min=461.8ms, max=1107.5ms
-  physics_step: mean=27.4ms, total=14.89s, count=544, min=19.5ms, max=131.5ms
-  save_trajectories: mean=9.88s, total=9.88s, count=1, min=9884.4ms, max=9884.4ms
-  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4462.1ms, max=4462.1ms
-  task_sampling: mean=520.8ms, total=1.04s, count=2, min=411.6ms, max=629.9ms
-  task_specific_sample: mean=516.9ms, total=1.03s, count=2, min=408.3ms, max=625.5ms
-  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.5ms, max=3.0ms
-  mj_forward_sync: mean=508.3us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=16.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:02:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:02:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:02:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:02:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:02:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:02:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:02:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047357m	[env.py: 870]
-05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:02:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98530729  0.24050721  0.04735727] yaw=161.0deg	[env.py: 1019]
-05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76370499  0.92549873  0.04735727] yaw=-157.3deg	[env.py: 1019]
-05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 135.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77396176  0.24692865  0.04735727] yaw=165.1deg	[env.py: 1019]
-05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:02:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.6ms, total=181.7ms	[env.py: 1075]
-05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.985, 0.241, 0.047)	[env.py: 1079]
-05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.0 deg	[env.py: 1082]
-05/10 05:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.757m	[env.py: 1086]
-05/10 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:02:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:02:41 INFO: [Worker 0] Worker 0 house 1 episode 48/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:02:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:02:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:02:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:02:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:02:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.553s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:02:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.293[m] 85.741[deg]	[grasp_sample.py: 539]
-05/10 05:02:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:02:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:02:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:02:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:02:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:02:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.66s (batch: 4.53s, save: 10.13s)	[pipeline.py: 300]
-05/10 05:02:52 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.53s:
-  episode_total: mean=225.83s, total=225.83s, count=1, min=225831.5ms, max=225831.5ms
-  sensor_polling: mean=571.8ms, total=171.53s, count=300, min=466.1ms, max=1282.3ms
-  save_trajectories: mean=10.13s, total=10.13s, count=1, min=10125.7ms, max=10125.7ms
-  physics_step: mean=29.5ms, total=8.84s, count=300, min=19.7ms, max=140.7ms
-  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4533.4ms, max=4533.4ms
-  task_sampling: mean=530.1ms, total=530.1ms, count=1, min=530.1ms, max=530.1ms
-  task_specific_sample: mean=525.0ms, total=525.0ms, count=1, min=525.0ms, max=525.0ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=664.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:02:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:02:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:02:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:02:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:02:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:02:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:02:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:02:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:02:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027968m	[env.py: 870]
-05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:02:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08231223  1.17848961 -0.02796819] yaw=-129.1deg	[env.py: 1019]
-05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67451995  0.12471295 -0.02796819] yaw=162.4deg	[env.py: 1019]
-05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11091132  1.08690573 -0.02796819] yaw=-133.1deg	[env.py: 1019]
-05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:02:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.9ms, total=135.9ms	[env.py: 1075]
-05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.082, 1.178, -0.028)	[env.py: 1079]
-05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.1 deg	[env.py: 1082]
-05/10 05:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
-05/10 05:02:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:02:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:02:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:02:55 INFO: [Worker 0] Worker 0 house 1 episode 45/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:02:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:02:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:02:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:02:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:02:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.396s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:02:58 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.526[m] 85.345[deg]	[grasp_sample.py: 539]
-05/10 05:03:00 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 05:03:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:03:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:03:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:03:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:03:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:03:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:03:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:03:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:03:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031325m	[env.py: 870]
-05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:03:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85051612  0.25674571  0.03132509] yaw=166.3deg	[env.py: 1019]
-05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84993167  0.55739558  0.03132509] yaw=-172.8deg	[env.py: 1019]
-05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88180133  0.58404084  0.03132509] yaw=-171.4deg	[env.py: 1019]
-05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:03:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=375.2ms, total=375.2ms	[env.py: 1075]
-05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.851, 0.257, 0.031)	[env.py: 1079]
-05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.3 deg	[env.py: 1082]
-05/10 05:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m	[env.py: 1086]
-05/10 05:03:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:03:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:03:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:03:03 INFO: [Worker 0] Worker 0 house 1 episode 46/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:03:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:03:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:03:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:03:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:03:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.851s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:03:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.416[m] 86.899[deg]	[grasp_sample.py: 539]
-05/10 05:03:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:03:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:03:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:03:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:03:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:03:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:03:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:03:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:03:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:03:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:03:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:03:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:03:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:03:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:03:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:03:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:03:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:03:23 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.475s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:03:23 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.582[deg]	[grasp_sample.py: 539]
-05/10 05:03:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:03:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:03:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:03:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:03:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:03:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:03:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:03:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:03:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:03:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:03:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:03:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:04:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:04:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:04:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:04:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:04:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:04:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:04:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:04:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:04:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:04:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:04:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:04:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:04:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:04:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:04:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:04:24 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.177s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:04:24 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.608[deg]	[grasp_sample.py: 539]
-05/10 05:04:26 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 05:04:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:04:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:04:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:04:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:04:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:04:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:04:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:04:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:04:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:04:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:04:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038899m	[env.py: 870]
-05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:04:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.10376623  0.86442768 -0.0388989 ] yaw=-138.5deg	[env.py: 1019]
-05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85533091  1.04291827 -0.0388989 ] yaw=-145.4deg	[env.py: 1019]
-05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.06142771  0.13800633 -0.0388989 ] yaw=153.1deg	[env.py: 1019]
-05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:04:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=406.2ms, total=406.2ms	[env.py: 1075]
-05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.104, 0.864, -0.039)	[env.py: 1079]
-05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.5 deg	[env.py: 1082]
-05/10 05:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.710m	[env.py: 1086]
-05/10 05:04:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:04:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:04:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:04:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:04:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:04:29 INFO: [Worker 0] Worker 0 house 1 episode 49/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:04:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:04:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:04:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:04:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:04:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.560s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:04:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.286[m] 88.770[deg]	[grasp_sample.py: 539]
-05/10 05:04:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:04:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:04:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:04:36 INFO: [Worker 0] Worker 0 house 1 episode 47 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:05:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:05:04 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:05:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 05:05:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:05:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:05:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:05:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:05:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:05:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.25s (batch: 4.66s, save: 11.59s)	[pipeline.py: 300]
-05/10 05:05:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:05:21 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=1.32s:
-  episode_total: mean=215.77s, total=431.53s, count=2, min=191754.3ms, max=239778.0ms
-  sensor_polling: mean=560.7ms, total=330.25s, count=589, min=466.4ms, max=1036.8ms
-  physics_step: mean=28.6ms, total=16.84s, count=589, min=16.1ms, max=118.4ms
-  save_trajectories: mean=11.59s, total=11.59s, count=1, min=11588.7ms, max=11588.7ms
-  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4660.4ms, max=4660.4ms
-  task_sampling: mean=660.7ms, total=1.32s, count=2, min=501.9ms, max=819.5ms
-  task_specific_sample: mean=656.5ms, total=1.31s, count=2, min=497.7ms, max=815.3ms
-  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.8ms, max=2.8ms
-  mj_forward_sync: mean=569.1us, total=1.1ms, count=2, min=0.5ms, max=0.7ms
-  policy_setup: mean=18.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:05:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:05:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:05:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:05:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:05:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:05:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:05:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:05:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:05:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001722m	[env.py: 870]
-05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:05:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90995501  0.98159774  0.00172205] yaw=-148.7deg	[env.py: 1019]
-05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85980739  0.10202901  0.00172205] yaw=158.5deg	[env.py: 1019]
-05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:05:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8112092   0.29293115  0.00172205] yaw=169.9deg	[env.py: 1019]
-05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:05:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.5ms, total=82.6ms	[env.py: 1075]
-05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.982, 0.002)	[env.py: 1079]
-05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.7 deg	[env.py: 1082]
-05/10 05:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
-05/10 05:05:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:05:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:05:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:05:23 INFO: [Worker 0] Worker 0 house 1 episode 48/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:05:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:05:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:05:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:05:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:05:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:05:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.720s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:05:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.538[m] 90.381[deg]	[grasp_sample.py: 539]
-05/10 05:05:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:05:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:05:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:05:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:05:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:05:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:05:31 INFO: [Worker 0] Worker 0 house 1 episode 47 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:05:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:05:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:05:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:05:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:05:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:05:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:05:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:05:35 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:05:35 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.669[deg]	[grasp_sample.py: 539]
-05/10 05:05:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:05:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:05:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:05:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:05:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:05:58 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:05:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 05:05:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:06:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:06:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:06:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:06:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.89s (batch: 4.80s, save: 10.09s)	[pipeline.py: 300]
-05/10 05:06:14 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=0.46s:
-  episode_total: mean=227.10s, total=227.10s, count=1, min=227096.3ms, max=227096.3ms
-  sensor_polling: mean=564.0ms, total=169.20s, count=300, min=464.2ms, max=984.0ms
-  save_trajectories: mean=10.09s, total=10.09s, count=1, min=10092.5ms, max=10092.5ms
-  physics_step: mean=29.6ms, total=8.88s, count=300, min=16.7ms, max=97.5ms
-  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4795.5ms, max=4795.5ms
-  task_sampling: mean=455.6ms, total=455.6ms, count=1, min=455.6ms, max=455.6ms
-  task_specific_sample: mean=451.5ms, total=451.5ms, count=1, min=451.5ms, max=451.5ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=468.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:06:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:06:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:06:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:06:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:06:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:06:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:06:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040388m	[env.py: 870]
-05/10 05:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:06:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.04978733  1.06101471  0.04038789] yaw=-136.6deg	[env.py: 1019]
-05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:06:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=576.2ms, total=576.3ms	[env.py: 1075]
-05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.050, 1.061, 0.040)	[env.py: 1079]
-05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.6 deg	[env.py: 1082]
-05/10 05:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
-05/10 05:06:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:06:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:06:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:06:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:06:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:06:16 INFO: [Worker 0] Worker 0 house 1 episode 48/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:06:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.190s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:06:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:06:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:06:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:06:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.911s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:06:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.453[m] 94.555[deg]	[grasp_sample.py: 539]
-05/10 05:06:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:06:19 INFO: [Worker 0] Worker 0 house 1 episode 46 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:06:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:06:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:06:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:06:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:06:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:06:47 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:06:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 05:06:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:07:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:07:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:07:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 18.10s (batch: 5.03s, save: 13.07s)	[pipeline.py: 300]
-05/10 05:07:06 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=1.16s:
-  episode_total: mean=125.00s, total=250.01s, count=2, min=5811.7ms, max=244197.3ms
-  sensor_polling: mean=569.2ms, total=170.76s, count=300, min=481.6ms, max=1250.2ms
-  save_trajectories: mean=13.07s, total=13.07s, count=1, min=13065.5ms, max=13065.5ms
-  physics_step: mean=30.0ms, total=9.01s, count=300, min=20.0ms, max=135.5ms
-  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5033.8ms, max=5033.8ms
-  task_sampling: mean=577.9ms, total=1.16s, count=2, min=491.7ms, max=664.0ms
-  task_specific_sample: mean=573.1ms, total=1.15s, count=2, min=486.4ms, max=659.9ms
-  scene_randomize: mean=2.7ms, total=5.3ms, count=2, min=1.7ms, max=3.6ms
-  mj_forward_sync: mean=648.3us, total=1.3ms, count=2, min=0.6ms, max=0.7ms
-  policy_setup: mean=18.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:07:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:07:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:07:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:07:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:07:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:07:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:07:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003732m	[env.py: 870]
-05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:07:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69608758  0.73538214 -0.00373208] yaw=-162.6deg	[env.py: 1019]
-05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06853568  0.78712305 -0.00373208] yaw=-156.2deg	[env.py: 1019]
-05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97091778  0.42754868 -0.00373208] yaw=166.3deg	[env.py: 1019]
-05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:07:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=464.6ms, total=464.7ms	[env.py: 1075]
-05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.696, 0.735, -0.004)	[env.py: 1079]
-05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.6 deg	[env.py: 1082]
-05/10 05:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
-05/10 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:07:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:07:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:07:09 INFO: [Worker 0] Worker 0 house 1 episode 47/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:07:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:07:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:07:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:07:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:07:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.730s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:07:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.578[m] 85.819[deg]	[grasp_sample.py: 539]
-05/10 05:07:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:07:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:07:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:07:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:07:18 INFO: [Worker 0] Worker 0 house 1 episode 49 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:07:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:07:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:07:47 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:07:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 05:07:47 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
-05/10 05:08:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:08:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:08:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.88s (batch: 4.25s, save: 8.63s)	[pipeline.py: 300]
-05/10 05:08:01 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=1.23s:
-  episode_total: mean=159.46s, total=318.93s, count=2, min=105861.8ms, max=213066.9ms
-  sensor_polling: mean=565.8ms, total=238.22s, count=421, min=455.5ms, max=1374.7ms
-  physics_step: mean=28.7ms, total=12.07s, count=421, min=17.1ms, max=115.6ms
-  save_trajectories: mean=8.63s, total=8.63s, count=1, min=8632.9ms, max=8632.9ms
-  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4250.8ms, max=4250.8ms
-  task_sampling: mean=614.2ms, total=1.23s, count=2, min=499.9ms, max=728.4ms
-  task_specific_sample: mean=609.9ms, total=1.22s, count=2, min=495.8ms, max=723.9ms
-  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=2.1ms, max=2.7ms
-  mj_forward_sync: mean=487.3us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:08:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:08:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:08:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:08:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:08:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:08:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:08:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:08:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:08:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:08:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:08:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007752m	[env.py: 870]
-05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:08:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88470733  0.21938705  0.00775161] yaw=164.2deg	[env.py: 1019]
-05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76402178 -0.01336149  0.00775161] yaw=158.9deg	[env.py: 1019]
-05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 135.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:08:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=665.8ms, total=665.9ms	[env.py: 1075]
-05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.219, 0.008)	[env.py: 1079]
-05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.2 deg	[env.py: 1082]
-05/10 05:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
-05/10 05:08:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:08:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:08:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:08:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:08:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:08:04 INFO: [Worker 0] Worker 0 house 1 episode 50/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:08:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:08:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:08:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:08:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.139s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:08:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.226s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:08:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.409[m] 85.302[deg]	[grasp_sample.py: 539]
-05/10 05:08:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:08:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:08:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:08:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:08:29 INFO: [Worker 0] Worker 0 house 1 episode 48 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:08:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:08:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:08:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:08:55 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:08:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 05:08:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:09:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:09:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:09:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:09:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:09:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:09:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:09:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:09:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.40s (batch: 4.93s, save: 9.47s)	[pipeline.py: 300]
-05/10 05:09:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:09:10 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=0.41s:
-  episode_total: mean=227.07s, total=227.07s, count=1, min=227074.0ms, max=227074.0ms
-  sensor_polling: mean=570.9ms, total=171.28s, count=300, min=456.5ms, max=1065.2ms
-  save_trajectories: mean=9.47s, total=9.47s, count=1, min=9471.2ms, max=9471.2ms
-  physics_step: mean=27.2ms, total=8.17s, count=300, min=16.5ms, max=71.4ms
-  save_batch_prep: mean=4.93s, total=4.93s, count=1, min=4930.2ms, max=4930.2ms
-  task_sampling: mean=412.4ms, total=412.4ms, count=1, min=412.4ms, max=412.4ms
-  task_specific_sample: mean=408.4ms, total=408.4ms, count=1, min=408.4ms, max=408.4ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=470.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:09:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:09:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:09:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:09:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:09:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:09:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:09:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:09:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:09:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:09:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042289m	[env.py: 870]
-05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:09:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0026126   0.43919668  0.04228856] yaw=180.8deg	[env.py: 1019]
-05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78360654  0.16214845  0.04228856] yaw=158.8deg	[env.py: 1019]
-05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:09:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.8ms, total=195.8ms	[env.py: 1075]
-05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.003, 0.439, 0.042)	[env.py: 1079]
-05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.8 deg	[env.py: 1082]
-05/10 05:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.701m	[env.py: 1086]
-05/10 05:09:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:09:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:09:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:09:12 INFO: [Worker 0] Worker 0 house 1 episode 49/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:09:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:09:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:09:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:09:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:09:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.742s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:09:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.242[m] 84.128[deg]	[grasp_sample.py: 539]
-05/10 05:09:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:09:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:09:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:09:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:09:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:09:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:09:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:09:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:09:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:09:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:09:20 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.741s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:09:20 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.244[deg]	[grasp_sample.py: 539]
-05/10 05:09:21 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 05:09:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:09:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:09:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:09:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:09:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:09:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:09:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049463m	[env.py: 870]
-05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:09:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72199523  0.17794869  0.04946279] yaw=163.1deg	[env.py: 1019]
-05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91854424  0.21811226  0.04946279] yaw=164.7deg	[env.py: 1019]
-05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78472073  0.61200549  0.04946279] yaw=-177.4deg	[env.py: 1019]
-05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:09:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=281.7ms, total=281.7ms	[env.py: 1075]
-05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.722, 0.178, 0.049)	[env.py: 1079]
-05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg	[env.py: 1082]
-05/10 05:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
-05/10 05:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:09:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:09:23 INFO: [Worker 0] Worker 0 house 1 episode 49/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:09:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:09:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:09:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:09:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:09:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.779s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:09:25 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.543[m] 85.391[deg]	[grasp_sample.py: 539]
-05/10 05:09:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:09:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:09:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:09:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:09:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:09:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:10:09 INFO: [Worker 0] Worker 0 house 1 episode 47 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:10:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:10:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:10:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:10:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:10:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:10:39 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:10:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 05:10:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:10:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:10:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:41 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.900s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:10:41 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.535[deg]	[grasp_sample.py: 539]
-05/10 05:10:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:10:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:10:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:10:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:10:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:10:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:10:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:10:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:10:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:10:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:10:53 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.784s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:10:53 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.687[deg]	[grasp_sample.py: 539]
-05/10 05:10:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:10:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:10:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:10:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:10:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:10:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.43s (batch: 4.73s, save: 10.70s)	[pipeline.py: 300]
-05/10 05:10:55 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=0.75s:
-  episode_total: mean=227.46s, total=227.46s, count=1, min=227456.2ms, max=227456.2ms
-  sensor_polling: mean=549.3ms, total=164.78s, count=300, min=464.2ms, max=934.3ms
-  save_trajectories: mean=10.70s, total=10.70s, count=1, min=10704.3ms, max=10704.3ms
-  physics_step: mean=26.3ms, total=7.88s, count=300, min=19.6ms, max=56.3ms
-  save_batch_prep: mean=4.73s, total=4.73s, count=1, min=4729.3ms, max=4729.3ms
-  task_sampling: mean=753.0ms, total=753.0ms, count=1, min=753.0ms, max=753.0ms
-  task_specific_sample: mean=748.1ms, total=748.1ms, count=1, min=748.1ms, max=748.1ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=572.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:10:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:10:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:10:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:10:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:10:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:10:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:10:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:10:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:10:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:10:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:10:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023421m	[env.py: 870]
-05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:10:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91355259  0.10056596 -0.02342061] yaw=149.7deg	[env.py: 1019]
-05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96345598  0.69004251 -0.02342061] yaw=-162.0deg	[env.py: 1019]
-05/10 05:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81484859  0.03210734 -0.02342061] yaw=160.8deg	[env.py: 1019]
-05/10 05:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:10:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.5ms, total=126.6ms	[env.py: 1075]
-05/10 05:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.914, 0.101, -0.023)	[env.py: 1079]
-05/10 05:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.7 deg	[env.py: 1082]
-05/10 05:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
-05/10 05:10:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:10:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:10:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:10:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:10:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:10:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:10:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:10:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:10:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:10:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:10:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:10:58 INFO: [Worker 0] Worker 0 house 1 episode 48/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:10:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:10:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:10:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:10:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:10:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.579s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:10:59 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.408[m] 83.003[deg]	[grasp_sample.py: 539]
-05/10 05:10:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:10:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:10:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:10:59 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.644s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:10:59 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.599[deg]	[grasp_sample.py: 539]
-05/10 05:10:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:11:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:11:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:11:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:11:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:11:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:11:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:11:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:11:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:11:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:11:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:11:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:11:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:11:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:11:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:11:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:11:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:11:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:11:15 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.662s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:11:15 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.599[deg]	[grasp_sample.py: 539]
-05/10 05:11:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:11:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:11:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:11:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:11:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:11:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:11:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:11:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:11:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:11:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:11:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:11:38 INFO: [Worker 0] Worker 0 house 1 episode 50 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:11:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:11:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:11:38 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 05:11:39 INFO: [Worker 0] Worker 0 house 1 episode 49 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 05:11:39 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=False episode_total=0.52s:
-  episode_total: mean=147.21s, total=147.21s, count=1, min=147207.4ms, max=147207.4ms
-  sensor_polling: mean=560.3ms, total=79.00s, count=141, min=476.5ms, max=1115.6ms
-  physics_step: mean=23.9ms, total=3.36s, count=141, min=14.7ms, max=51.7ms
-  task_sampling: mean=520.4ms, total=520.4ms, count=1, min=520.4ms, max=520.4ms
-  task_specific_sample: mean=516.3ms, total=516.3ms, count=1, min=516.3ms, max=516.3ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=465.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:11:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:11:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:11:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:11:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:11:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:11:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:11:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:11:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:11:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:11:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:11:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048003m	[env.py: 870]
-05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:11:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15869441  0.96581468  0.04800339] yaw=-149.5deg	[env.py: 1019]
-05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97687553  0.71991274  0.04800339] yaw=-155.1deg	[env.py: 1019]
-05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93166728  0.14947921  0.04800339] yaw=146.9deg	[env.py: 1019]
-05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:11:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.0ms, total=111.1ms	[env.py: 1075]
-05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.159, 0.966, 0.048)	[env.py: 1079]
-05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.5 deg	[env.py: 1082]
-05/10 05:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.728m	[env.py: 1086]
-05/10 05:11:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:11:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:11:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:11:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:11:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:11:41 INFO: [Worker 0] Worker 0 house 1 episode 50/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:11:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:11:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:11:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:11:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:11:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.553s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:11:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.340[m] 88.392[deg]	[grasp_sample.py: 539]
-05/10 05:11:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:11:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:11:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:11:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:11:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:12:01 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:12:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 05:12:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:12:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:12:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:12:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:12:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.04s (batch: 4.47s, save: 9.57s)	[pipeline.py: 300]
-05/10 05:12:15 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=0.99s:
-  episode_total: mean=252.60s, total=252.60s, count=1, min=252596.7ms, max=252596.7ms
-  sensor_polling: mean=553.9ms, total=166.18s, count=300, min=464.8ms, max=1345.9ms
-  save_trajectories: mean=9.57s, total=9.57s, count=1, min=9567.5ms, max=9567.5ms
-  physics_step: mean=28.8ms, total=8.65s, count=300, min=18.3ms, max=133.8ms
-  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4469.4ms, max=4469.4ms
-  task_sampling: mean=988.3ms, total=988.3ms, count=1, min=988.3ms, max=988.3ms
-  task_specific_sample: mean=983.0ms, total=983.0ms, count=1, min=983.0ms, max=983.0ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=653.7us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:12:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:12:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:12:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:12:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:12:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:12:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:12:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:12:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:12:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:12:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:12:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029624m	[env.py: 870]
-05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:12:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98901761  0.81487479  0.02962352] yaw=-156.7deg	[env.py: 1019]
-05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.63569626  0.68612919  0.02962352] yaw=-167.9deg	[env.py: 1019]
-05/10 05:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94669868  0.30899687  0.02962352] yaw=170.1deg	[env.py: 1019]
-05/10 05:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:12:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.8ms, total=198.8ms	[env.py: 1075]
-05/10 05:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.989, 0.815, 0.030)	[env.py: 1079]
-05/10 05:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.7 deg	[env.py: 1082]
-05/10 05:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.787m	[env.py: 1086]
-05/10 05:12:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:12:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:12:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:12:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:12:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:12:18 INFO: [Worker 0] Worker 0 house 1 episode 51/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:12:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:12:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:12:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:12:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:12:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:12:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.805s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:12:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.328[m] 82.992[deg]	[grasp_sample.py: 539]
-05/10 05:12:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:12:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:12:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:12:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:12:33 INFO: [Worker 0] Worker 0 house 1 episode 49 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:12:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:12:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:13:00 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:13:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 05:13:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:13:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:13:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:13:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:13:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:13:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.46s (batch: 5.38s, save: 12.09s)	[pipeline.py: 300]
-05/10 05:13:18 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=1.46s:
-  episode_total: mean=210.50s, total=420.99s, count=2, min=185388.1ms, max=235605.3ms
-  sensor_polling: mean=557.6ms, total=325.66s, count=584, min=452.4ms, max=1094.7ms
-  physics_step: mean=29.9ms, total=17.43s, count=584, min=19.5ms, max=132.1ms
-  save_trajectories: mean=12.09s, total=12.09s, count=1, min=12085.4ms, max=12085.4ms
-  save_batch_prep: mean=5.38s, total=5.38s, count=1, min=5379.1ms, max=5379.1ms
-  task_sampling: mean=732.2ms, total=1.46s, count=2, min=563.6ms, max=900.8ms
-  task_specific_sample: mean=727.9ms, total=1.46s, count=2, min=560.2ms, max=895.7ms
-  scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=1.5ms, max=3.5ms
-  mj_forward_sync: mean=533.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=18.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:13:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:13:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:13:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:13:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:13:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:13:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:13:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:13:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:13:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038677m	[env.py: 870]
-05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:13:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97178308  0.52123967 -0.03867683] yaw=-176.0deg	[env.py: 1019]
-05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90568285  0.66059078 -0.03867683] yaw=-169.0deg	[env.py: 1019]
-05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:13:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=206.8ms, total=206.8ms	[env.py: 1075]
-05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.521, -0.039)	[env.py: 1079]
-05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.0 deg	[env.py: 1082]
-05/10 05:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.732m	[env.py: 1086]
-05/10 05:13:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:13:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:13:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:13:21 INFO: [Worker 0] Worker 0 house 1 episode 50/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:13:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:13:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:13:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:13:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:13:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.479s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:13:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.322[m] 90.418[deg]	[grasp_sample.py: 539]
-05/10 05:13:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:13:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:13:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:13:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:13:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:14:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:14:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:14:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:14:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:14:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:14:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:14:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:14:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:14:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:14:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:14:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:14:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:14:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:14:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:14:13 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.709s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:14:13 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.251[deg]	[grasp_sample.py: 539]
-05/10 05:14:15 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 05:14:15 WARNING: [Worker 0] Asset Fridge_7_upside_down (hash: a079a499003c75f24f76325cf35d2986) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
-05/10 05:14:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:14:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:14:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:14:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:14:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:14:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:14:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:14:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:14:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:14:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:14:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036299m	[env.py: 870]
-05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:14:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83196583  1.12501728  0.03629883] yaw=-146.9deg	[env.py: 1019]
-05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94016393  0.32405916  0.03629883] yaw=160.6deg	[env.py: 1019]
-05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94112911  0.63465169  0.03629883] yaw=-160.2deg	[env.py: 1019]
-05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:14:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=367.3ms, total=367.4ms	[env.py: 1075]
-05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.832, 1.125, 0.036)	[env.py: 1079]
-05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.9 deg	[env.py: 1082]
-05/10 05:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
-05/10 05:14:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:14:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:14:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:14:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:14:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:14:17 INFO: [Worker 0] Worker 0 house 1 episode 49/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:14:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:14:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:14:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:14:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:14:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:14:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.380s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:14:22 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.687[m] 95.507[deg]	[grasp_sample.py: 539]
-05/10 05:14:23 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 05:14:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:14:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:14:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:14:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:14:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:14:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:14:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:14:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046253m	[env.py: 870]
-05/10 05:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:14:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79296079  0.64830494 -0.04625349] yaw=-173.0deg	[env.py: 1019]
-05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.6672997   0.40912558 -0.04625349] yaw=174.6deg	[env.py: 1019]
-05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87450463  0.80765596 -0.04625349] yaw=-158.9deg	[env.py: 1019]
-05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:14:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=301.7ms, total=301.7ms	[env.py: 1075]
-05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.793, 0.648, -0.046)	[env.py: 1079]
-05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.0 deg	[env.py: 1082]
-05/10 05:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
-05/10 05:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:14:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:14:26 INFO: [Worker 0] Worker 0 house 1 episode 50/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:14:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:14:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:14:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:14:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:14:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:14:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.091s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:14:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.467[m] 86.518[deg]	[grasp_sample.py: 539]
-05/10 05:14:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:14:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:14:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:14:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:14:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:14:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:14:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:14:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:14:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:14:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:14:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:14:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:14:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:14:39 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.155s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:14:39 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.366[deg]	[grasp_sample.py: 539]
-05/10 05:14:41 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 05:14:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:14:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:14:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:14:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:14:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:14:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:14:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:14:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:14:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:14:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:14:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032486m	[env.py: 870]
-05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:14:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83253253  0.53725283  0.03248635] yaw=-167.3deg	[env.py: 1019]
-05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08473206  0.85201261  0.03248635] yaw=-152.8deg	[env.py: 1019]
-05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95314909  1.24384766  0.03248635] yaw=-129.6deg	[env.py: 1019]
-05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:14:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.7ms, total=181.7ms	[env.py: 1075]
-05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.537, 0.032)	[env.py: 1079]
-05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.3 deg	[env.py: 1082]
-05/10 05:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
-05/10 05:14:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:14:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:14:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:14:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:14:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:14:43 INFO: [Worker 0] Worker 0 house 1 episode 51/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:14:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:14:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:14:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:14:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:14:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.555s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:14:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.500[m] 98.105[deg]	[grasp_sample.py: 539]
-05/10 05:14:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:14:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:14:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:15:09 INFO: [Worker 0] Worker 0 house 1 episode 51 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:15:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:15:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:15:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:15:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:15:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:15:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:15:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:15:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:15:33 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:15:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 05:15:33 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
-05/10 05:15:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:15:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:15:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:15:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:15:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:15:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:15:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:15:35 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.526s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:15:35 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.469[deg]	[grasp_sample.py: 539]
-05/10 05:15:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:15:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:15:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:15:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:15:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:15:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:15:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:15:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.61s (batch: 4.58s, save: 9.04s)	[pipeline.py: 300]
-05/10 05:15:47 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.92s:
-  episode_total: mean=209.69s, total=209.69s, count=1, min=209685.1ms, max=209685.1ms
-  sensor_polling: mean=550.7ms, total=157.51s, count=286, min=472.2ms, max=792.7ms
-  save_trajectories: mean=9.04s, total=9.04s, count=1, min=9036.7ms, max=9036.7ms
-  physics_step: mean=27.7ms, total=7.91s, count=286, min=19.3ms, max=88.2ms
-  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4576.1ms, max=4576.1ms
-  task_sampling: mean=916.5ms, total=916.5ms, count=1, min=916.5ms, max=916.5ms
-  task_specific_sample: mean=912.0ms, total=912.0ms, count=1, min=912.0ms, max=912.0ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=614.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:15:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:15:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:15:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:15:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:15:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:15:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:15:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:15:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:15:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035543m	[env.py: 870]
-05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:15:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76247955  0.34519901 -0.03554312] yaw=163.1deg	[env.py: 1019]
-05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.03991266  0.16261513 -0.03554312] yaw=146.6deg	[env.py: 1019]
-05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97985518  0.35461928 -0.03554312] yaw=175.3deg	[env.py: 1019]
-05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:15:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.8ms, total=148.8ms	[env.py: 1075]
-05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.345, -0.036)	[env.py: 1079]
-05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg	[env.py: 1082]
-05/10 05:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
-05/10 05:15:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:15:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:15:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:15:49 INFO: [Worker 0] Worker 0 house 1 episode 52/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:15:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:15:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:15:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:15:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:15:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.588s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:15:50 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.489[m] 81.248[deg]	[grasp_sample.py: 539]
-05/10 05:15:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:15:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:15:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:15:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:15:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:15:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:16:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:16:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:16:47 INFO: [Worker 0] Worker 0 house 1 episode 50 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:16:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:17:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:17:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:17:19 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:17:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 05:17:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:17:31 INFO: [Worker 0] Worker 0 house 1 episode 50 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:17:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:17:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:17:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.75s (batch: 4.88s, save: 10.87s)	[pipeline.py: 300]
-05/10 05:17:35 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=0.51s:
-  episode_total: mean=255.27s, total=255.27s, count=1, min=255271.5ms, max=255271.5ms
-  sensor_polling: mean=557.7ms, total=167.30s, count=300, min=471.7ms, max=987.0ms
-  save_trajectories: mean=10.87s, total=10.87s, count=1, min=10871.2ms, max=10871.2ms
-  physics_step: mean=28.1ms, total=8.43s, count=300, min=16.3ms, max=137.8ms
-  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4878.5ms, max=4878.5ms
-  task_sampling: mean=512.7ms, total=512.7ms, count=1, min=512.7ms, max=512.7ms
-  task_specific_sample: mean=508.7ms, total=508.7ms, count=1, min=508.7ms, max=508.7ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=474.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:17:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:17:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:17:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:17:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:17:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:17:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:17:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005173m	[env.py: 870]
-05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:17:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.786246    0.91616677 -0.00517311] yaw=-156.6deg	[env.py: 1019]
-05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86896054  0.48845088 -0.00517311] yaw=-184.6deg	[env.py: 1019]
-05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0198648   0.67072913 -0.00517311] yaw=-165.6deg	[env.py: 1019]
-05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:17:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.1ms, total=121.1ms	[env.py: 1075]
-05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.916, -0.005)	[env.py: 1079]
-05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.6 deg	[env.py: 1082]
-05/10 05:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
-05/10 05:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:17:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:17:38 INFO: [Worker 0] Worker 0 house 1 episode 51/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:17:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:17:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:17:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:17:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:17:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.637s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:17:41 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.572[m] 76.156[deg]	[grasp_sample.py: 539]
-05/10 05:17:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:17:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:17:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:17:45 INFO: [Worker 0] Worker 0 house 1 episode 51 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:18:00 INFO: [Worker 0] Saved videos eagerly for episode 37 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:18:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 05:18:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:18:16 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:18:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 05:18:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:18:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:18:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:18:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.44s (batch: 4.88s, save: 11.57s)	[pipeline.py: 300]
-05/10 05:18:17 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=1.77s:
-  episode_total: mean=145.23s, total=435.69s, count=3, min=6900.5ms, max=231472.4ms
-  sensor_polling: mean=568.6ms, total=338.88s, count=596, min=470.4ms, max=987.9ms
-  physics_step: mean=29.0ms, total=17.26s, count=596, min=16.7ms, max=125.0ms
-  save_trajectories: mean=11.57s, total=11.57s, count=1, min=11569.3ms, max=11569.3ms
-  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4875.7ms, max=4875.7ms
-  task_sampling: mean=589.6ms, total=1.77s, count=3, min=506.9ms, max=643.5ms
-  task_specific_sample: mean=585.3ms, total=1.76s, count=3, min=503.1ms, max=640.1ms
-  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.5ms, max=2.5ms
-  mj_forward_sync: mean=555.3us, total=1.7ms, count=3, min=0.4ms, max=0.8ms
-  policy_setup: mean=21.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:18:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:18:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:18:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:18:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:18:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:18:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:18:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012338m	[env.py: 870]
-05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:18:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07133697  0.84503363  0.01233834] yaw=-153.4deg	[env.py: 1019]
-05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9589487   0.46552662  0.01233834] yaw=176.4deg	[env.py: 1019]
-05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9421427   0.5743842   0.01233834] yaw=-178.7deg	[env.py: 1019]
-05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:18:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.5ms, total=220.5ms	[env.py: 1075]
-05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.071, 0.845, 0.012)	[env.py: 1079]
-05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.4 deg	[env.py: 1082]
-05/10 05:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.728m	[env.py: 1086]
-05/10 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:18:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:18:19 INFO: [Worker 0] Worker 0 house 1 episode 51/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:18:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:18:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:18:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:18:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:18:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.615s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:18:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.298[m] 92.337[deg]	[grasp_sample.py: 539]
-05/10 05:18:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:18:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:18:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:18:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:18:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:18:31 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.17s (batch: 4.95s, save: 10.22s)	[pipeline.py: 300]
-05/10 05:18:32 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.89s:
-  episode_total: mean=204.64s, total=409.28s, count=2, min=180049.2ms, max=229226.1ms
-  sensor_polling: mean=553.4ms, total=318.74s, count=576, min=460.3ms, max=1025.3ms
-  physics_step: mean=28.1ms, total=16.17s, count=576, min=16.5ms, max=114.5ms
-  save_trajectories: mean=10.22s, total=10.22s, count=1, min=10222.4ms, max=10222.4ms
-  save_batch_prep: mean=4.95s, total=4.95s, count=1, min=4950.5ms, max=4950.5ms
-  task_sampling: mean=442.5ms, total=885.1ms, count=2, min=394.2ms, max=490.9ms
-  task_specific_sample: mean=437.5ms, total=875.0ms, count=2, min=390.2ms, max=484.8ms
-  scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=1.6ms, max=3.2ms
-  mj_forward_sync: mean=685.6us, total=1.4ms, count=2, min=0.6ms, max=0.8ms
-  policy_setup: mean=19.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:18:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:18:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:18:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:18:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:18:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:18:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:18:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:18:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:18:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:18:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:18:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039082m	[env.py: 870]
-05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:18:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:18:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=222.2ms, total=222.3ms	[env.py: 1105]
-05/10 05:18:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 05:18:34 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 05:18:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:18:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:18:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:18:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:18:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:18:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:18:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:18:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:18:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003392m	[env.py: 870]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:18:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70067077  0.60953215 -0.00339161] yaw=-173.3deg	[env.py: 1019]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.85889978  0.91835196 -0.00339161] yaw=-153.6deg	[env.py: 1019]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86142264  0.86647112 -0.00339161] yaw=-145.5deg	[env.py: 1019]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:18:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=410.6ms, total=410.7ms	[env.py: 1075]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.701, 0.610, -0.003)	[env.py: 1079]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.3 deg	[env.py: 1082]
-05/10 05:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
-05/10 05:18:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:18:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:18:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:18:37 INFO: [Worker 0] Worker 0 house 1 episode 53/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:18:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:18:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:18:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:18:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:18:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.634s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:18:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.582[m] 89.345[deg]	[grasp_sample.py: 539]
-05/10 05:18:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:18:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:18:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:18:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:18:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:18:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:19:00 INFO: [Worker 0] Worker 0 house 1 episode 52 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:19:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:19:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:19:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:19:28 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:19:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 05:19:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:19:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:19:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:19:43 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.75s (batch: 4.66s, save: 11.09s)	[pipeline.py: 300]
-05/10 05:19:44 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.48s:
-  episode_total: mean=235.51s, total=235.51s, count=1, min=235509.8ms, max=235509.8ms
-  sensor_polling: mean=565.7ms, total=169.71s, count=300, min=465.7ms, max=931.4ms
-  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11086.8ms, max=11086.8ms
-  physics_step: mean=28.1ms, total=8.42s, count=300, min=15.6ms, max=105.7ms
-  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4662.4ms, max=4662.4ms
-  task_sampling: mean=478.3ms, total=478.3ms, count=1, min=478.3ms, max=478.3ms
-  task_specific_sample: mean=474.4ms, total=474.4ms, count=1, min=474.4ms, max=474.4ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=453.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:19:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:19:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:19:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:19:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:19:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:19:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:19:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032718m	[env.py: 870]
-05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:19:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91155052  0.30183688  0.03271776] yaw=167.7deg	[env.py: 1019]
-05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:19:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.66584789  0.68578997  0.03271776] yaw=-165.3deg	[env.py: 1019]
-05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:19:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=373.1ms, total=373.1ms	[env.py: 1075]
-05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.912, 0.302, 0.033)	[env.py: 1079]
-05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.7 deg	[env.py: 1082]
-05/10 05:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
-05/10 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:19:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:19:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:19:47 INFO: [Worker 0] Worker 0 house 1 episode 53/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:19:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:19:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:19:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:19:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:19:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.137s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:19:49 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.352[m] 85.691[deg]	[grasp_sample.py: 539]
-05/10 05:19:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:19:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:19:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:19:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:20:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:20:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:20:40 INFO: [Worker 0] Worker 0 house 1 episode 51 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:20:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:20:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:21:11 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:21:11 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 05:21:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:21:11 INFO: [Worker 0] Worker 0 house 1 episode 51 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:21:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:21:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:21:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.99s (batch: 5.14s, save: 11.85s)	[pipeline.py: 300]
-05/10 05:21:29 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.46s:
-  episode_total: mean=231.82s, total=231.82s, count=1, min=231816.3ms, max=231816.3ms
-  sensor_polling: mean=554.8ms, total=166.43s, count=300, min=464.8ms, max=1133.4ms
-  save_trajectories: mean=11.85s, total=11.85s, count=1, min=11853.2ms, max=11853.2ms
-  physics_step: mean=27.9ms, total=8.36s, count=300, min=19.8ms, max=136.0ms
-  save_batch_prep: mean=5.14s, total=5.14s, count=1, min=5135.1ms, max=5135.1ms
-  task_sampling: mean=458.4ms, total=458.4ms, count=1, min=458.4ms, max=458.4ms
-  task_specific_sample: mean=454.4ms, total=454.4ms, count=1, min=454.4ms, max=454.4ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=480.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:21:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:21:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:21:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:21:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:21:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:21:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:21:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:21:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:21:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.010m, effective arm-mount z=0.850m (base_body_z=-0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010298m	[env.py: 870]
-05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:21:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.19310672  1.05235021 -0.01029786] yaw=-121.3deg	[env.py: 1019]
-05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8105927   0.32394911 -0.01029786] yaw=167.2deg	[env.py: 1019]
-05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.61075445  0.47704936 -0.01029786] yaw=174.7deg	[env.py: 1019]
-05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:21:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.9ms, total=92.9ms	[env.py: 1075]
-05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.193, 1.052, -0.010)	[env.py: 1079]
-05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.3 deg	[env.py: 1082]
-05/10 05:21:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.765m	[env.py: 1086]
-05/10 05:21:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:21:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:21:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:21:31 INFO: [Worker 0] Worker 0 house 1 episode 52/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:21:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:21:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:21:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:21:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:21:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.596s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:21:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.324[m] 94.127[deg]	[grasp_sample.py: 539]
-05/10 05:21:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:21:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:21:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:21:37 INFO: [Worker 0] Saved videos eagerly for episode 38 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:21:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 05:21:37 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
-05/10 05:21:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:21:41 INFO: [Worker 0] Worker 0 house 1 episode 53 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:21:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:21:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:21:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:21:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:21:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:21:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:21:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:21:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.64s (batch: 4.92s, save: 10.72s)	[pipeline.py: 300]
-05/10 05:21:53 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.59s:
-  episode_total: mean=214.37s, total=214.37s, count=1, min=214369.5ms, max=214369.5ms
-  sensor_polling: mean=565.1ms, total=158.80s, count=281, min=478.6ms, max=1234.3ms
-  save_trajectories: mean=10.72s, total=10.72s, count=1, min=10717.0ms, max=10717.0ms
-  physics_step: mean=29.1ms, total=8.18s, count=281, min=20.2ms, max=104.8ms
-  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4920.4ms, max=4920.4ms
-  task_sampling: mean=590.4ms, total=590.4ms, count=1, min=590.4ms, max=590.4ms
-  task_specific_sample: mean=585.4ms, total=585.4ms, count=1, min=585.4ms, max=585.4ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=670.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:21:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:21:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:21:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:21:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:21:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:21:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:21:54 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.501s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:21:54 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.137[deg]	[grasp_sample.py: 539]
-05/10 05:21:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:21:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:21:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:21:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:21:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:21:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:21:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:21:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:21:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:21:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:21:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.050m, effective arm-mount z=0.810m (base_body_z=-0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.049743m	[env.py: 870]
-05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:21:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75587215  0.67945388 -0.04974334] yaw=-176.9deg	[env.py: 1019]
-05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7586185   0.86366688 -0.04974334] yaw=-150.3deg	[env.py: 1019]
-05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86733631  0.82668848 -0.04974334] yaw=-162.2deg	[env.py: 1019]
-05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:21:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.7ms, total=197.8ms	[env.py: 1075]
-05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.756, 0.679, -0.050)	[env.py: 1079]
-05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.9 deg	[env.py: 1082]
-05/10 05:21:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m	[env.py: 1086]
-05/10 05:21:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:21:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:21:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:21:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:21:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:21:56 INFO: [Worker 0] Worker 0 house 1 episode 52/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:21:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:21:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:21:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:21:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:21:56 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 05:21:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.589s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:21:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.492[m] 81.940[deg]	[grasp_sample.py: 539]
-05/10 05:21:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:21:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:21:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:21:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:21:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:21:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:21:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:21:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:21:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:21:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:21:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:21:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024820m	[env.py: 870]
-05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:21:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00634219  0.90217333  0.02482029] yaw=-151.6deg	[env.py: 1019]
-05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98093759  0.45321566  0.02482029] yaw=168.2deg	[env.py: 1019]
-05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15361413  1.1342525   0.02482029] yaw=-134.6deg	[env.py: 1019]
-05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:21:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.7ms, total=145.8ms	[env.py: 1075]
-05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.006, 0.902, 0.025)	[env.py: 1079]
-05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.6 deg	[env.py: 1082]
-05/10 05:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
-05/10 05:21:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:21:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:21:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:21:58 INFO: [Worker 0] Worker 0 house 1 episode 54/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:21:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:21:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:21:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:21:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:22:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.212s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:22:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.396[m] 91.988[deg]	[grasp_sample.py: 539]
-05/10 05:22:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:22:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:22:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:22:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:22:08 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:22:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 05:22:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:22:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:22:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:22:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:22:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:22:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.02s (batch: 4.55s, save: 11.46s)	[pipeline.py: 300]
-05/10 05:22:25 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=0.71s:
-  episode_total: mean=114.65s, total=229.30s, count=2, min=239.1ms, max=229062.7ms
-  sensor_polling: mean=564.4ms, total=169.31s, count=300, min=467.2ms, max=1177.7ms
-  save_trajectories: mean=11.46s, total=11.46s, count=1, min=11464.3ms, max=11464.3ms
-  physics_step: mean=28.0ms, total=8.41s, count=300, min=19.2ms, max=75.0ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4552.3ms, max=4552.3ms
-  task_specific_sample: mean=469.6ms, total=939.3ms, count=2, min=229.6ms, max=709.7ms
-  task_sampling: mean=712.7ms, total=712.7ms, count=1, min=712.7ms, max=712.7ms
-  task_sampling_failed: mean=239.1ms, total=239.1ms, count=1, min=239.1ms, max=239.1ms
-  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms
-  mj_forward_sync: mean=585.0us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
-  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:22:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:22:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:22:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:22:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:22:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:22:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:22:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:22:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:22:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:22:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:22:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046913m	[env.py: 870]
-05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:22:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90876566  1.06424289 -0.04691266] yaw=-140.1deg	[env.py: 1019]
-05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97937612  0.19791701 -0.04691266] yaw=168.7deg	[env.py: 1019]
-05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86936535  0.76823496 -0.04691266] yaw=-160.9deg	[env.py: 1019]
-05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:22:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=511.4ms, total=511.5ms	[env.py: 1075]
-05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 1.064, -0.047)	[env.py: 1079]
-05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.1 deg	[env.py: 1082]
-05/10 05:22:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
-05/10 05:22:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:22:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:22:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:22:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:22:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:22:28 INFO: [Worker 0] Worker 0 house 1 episode 54/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:22:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.224s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:22:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:22:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:22:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:22:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.134s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:22:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.554[m] 81.593[deg]	[grasp_sample.py: 539]
-05/10 05:22:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:22:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:22:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:22:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:22:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:22:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:23:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:23:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:23:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:23:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:23:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:23:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:23:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:24:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:24:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:24:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:24:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:24:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:24:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:24:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:24:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:24:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:24:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:24:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:24:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:24:17 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.780s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:24:17 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.282[deg]	[grasp_sample.py: 539]
-05/10 05:24:18 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 05:24:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:24:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:24:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:24:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:24:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:24:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:24:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:24:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:24:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034375m	[env.py: 870]
-05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:24:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79231557  0.41992837 -0.03437528] yaw=185.4deg	[env.py: 1019]
-05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9922619   0.8437425  -0.03437528] yaw=-147.3deg	[env.py: 1019]
-05/10 05:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79316651  0.14174222 -0.03437528] yaw=165.3deg	[env.py: 1019]
-05/10 05:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:24:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=321.0ms, total=321.0ms	[env.py: 1075]
-05/10 05:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.792, 0.420, -0.034)	[env.py: 1079]
-05/10 05:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.4 deg	[env.py: 1082]
-05/10 05:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
-05/10 05:24:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:24:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:24:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:24:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:24:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:24:21 INFO: [Worker 0] Worker 0 house 1 episode 53/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:24:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:24:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:24:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:24:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:24:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:24:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.489[m] 88.228[deg]	[grasp_sample.py: 539]
-05/10 05:24:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:24:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:24:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:24:58 INFO: [Worker 0] Worker 0 house 1 episode 52 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:25:00 INFO: [Worker 0] Worker 0 house 1 episode 54 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:25:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:25:20 INFO: [Worker 0] Saved videos eagerly for episode 39 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:25:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 05:25:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:25:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:25:22 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:25:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 05:25:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:25:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:25:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:25:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:25:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:25:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:25:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:25:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:25:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:25:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:25:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:25:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:25:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:25:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:25:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:25:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:25:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:25:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.05s (batch: 4.71s, save: 9.34s)	[pipeline.py: 300]
-05/10 05:25:35 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.981s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:25:35 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.363[deg]	[grasp_sample.py: 539]
-05/10 05:25:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:25:35 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.58s:
-  episode_total: mean=219.77s, total=219.77s, count=1, min=219769.6ms, max=219769.6ms
-  sensor_polling: mean=559.3ms, total=167.78s, count=300, min=468.4ms, max=1020.1ms
-  save_trajectories: mean=9.34s, total=9.34s, count=1, min=9343.6ms, max=9343.6ms
-  physics_step: mean=30.8ms, total=9.23s, count=300, min=19.6ms, max=104.1ms
-  save_batch_prep: mean=4.71s, total=4.71s, count=1, min=4710.1ms, max=4710.1ms
-  task_sampling: mean=580.7ms, total=580.7ms, count=1, min=580.7ms, max=580.7ms
-  task_specific_sample: mean=575.1ms, total=575.1ms, count=1, min=575.1ms, max=575.1ms
-  scene_randomize: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
-  mj_forward_sync: mean=772.5us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
-  policy_setup: mean=25.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:25:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:25:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:25:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:25:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:25:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.18s (batch: 4.41s, save: 9.77s)	[pipeline.py: 300]
-05/10 05:25:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:25:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:25:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:25:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:25:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:25:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:25:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:25:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:25:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033687m	[env.py: 870]
-05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:25:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88632746  1.13194304 -0.033687  ] yaw=-145.0deg	[env.py: 1019]
-05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99167637  1.00828059 -0.033687  ] yaw=-151.4deg	[env.py: 1019]
-05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.20470492  1.08874706 -0.033687  ] yaw=-128.2deg	[env.py: 1019]
-05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:25:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.7ms, total=125.8ms	[env.py: 1075]
-05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.886, 1.132, -0.034)	[env.py: 1079]
-05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.0 deg	[env.py: 1082]
-05/10 05:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
-05/10 05:25:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:25:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:25:37 INFO: [Worker 0] Worker 0 house 1 episode 54 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:25:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:25:37 INFO: [Worker 0] Worker 0 house 1 episode 53/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:25:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:25:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:25:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:25:37 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=1.23s:
-  episode_total: mean=174.46s, total=348.92s, count=2, min=129414.6ms, max=219503.5ms
-  sensor_polling: mean=564.3ms, total=272.57s, count=483, min=469.2ms, max=1169.6ms
-  physics_step: mean=27.9ms, total=13.49s, count=483, min=19.3ms, max=105.0ms
-  save_trajectories: mean=9.77s, total=9.77s, count=1, min=9771.1ms, max=9771.1ms
-  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4413.6ms, max=4413.6ms
-  task_sampling: mean=613.9ms, total=1.23s, count=2, min=488.6ms, max=739.2ms
-  task_specific_sample: mean=610.1ms, total=1.22s, count=2, min=485.4ms, max=734.7ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.4ms, max=3.0ms
-  mj_forward_sync: mean=496.6us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:25:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:25:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:25:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:25:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:25:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:25:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:25:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:25:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:25:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:25:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:25:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:25:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006110m	[env.py: 870]
-05/10 05:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:25:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75315273  0.70333006 -0.00611023] yaw=-162.3deg	[env.py: 1019]
-05/10 05:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87717599  0.2116555  -0.00611023] yaw=170.8deg	[env.py: 1019]
-05/10 05:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.08934381  1.04319953 -0.00611023] yaw=-132.7deg	[env.py: 1019]
-05/10 05:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:25:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=644.4ms, total=644.5ms	[env.py: 1075]
-05/10 05:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.753, 0.703, -0.006)	[env.py: 1079]
-05/10 05:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.3 deg	[env.py: 1082]
-05/10 05:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m	[env.py: 1086]
-05/10 05:25:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:25:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:25:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:25:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:25:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:25:40 INFO: [Worker 0] Worker 0 house 1 episode 55/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:25:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:25:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:25:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:25:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:25:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.570s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:25:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.559[m] 95.438[deg]	[grasp_sample.py: 539]
-05/10 05:25:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:25:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:25:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:25:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.981s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:25:43 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.613[m] 87.034[deg]	[grasp_sample.py: 539]
-05/10 05:25:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:25:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:25:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:26:06 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:26:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 05:26:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:26:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:26:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:26:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.41s (batch: 5.12s, save: 11.29s)	[pipeline.py: 300]
-05/10 05:26:23 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.85s:
-  episode_total: mean=236.07s, total=236.07s, count=1, min=236073.7ms, max=236073.7ms
-  sensor_polling: mean=545.0ms, total=163.51s, count=300, min=465.2ms, max=938.1ms
-  save_trajectories: mean=11.29s, total=11.29s, count=1, min=11287.2ms, max=11287.2ms
-  physics_step: mean=27.4ms, total=8.21s, count=300, min=16.5ms, max=68.6ms
-  save_batch_prep: mean=5.12s, total=5.12s, count=1, min=5118.3ms, max=5118.3ms
-  task_sampling: mean=853.5ms, total=853.5ms, count=1, min=853.5ms, max=853.5ms
-  task_specific_sample: mean=849.4ms, total=849.4ms, count=1, min=849.4ms, max=849.4ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=469.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:26:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:26:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:26:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:26:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:26:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:26:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:26:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:26:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:26:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048095m	[env.py: 870]
-05/10 05:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:26:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86880171  0.3189994  -0.04809519] yaw=159.1deg	[env.py: 1019]
-05/10 05:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95826475  0.28238721 -0.04809519] yaw=167.4deg	[env.py: 1019]
-05/10 05:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96297676  1.01295545 -0.04809519] yaw=-149.6deg	[env.py: 1019]
-05/10 05:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:26:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=333.0ms, total=333.1ms	[env.py: 1075]
-05/10 05:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.319, -0.048)	[env.py: 1079]
-05/10 05:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.1 deg	[env.py: 1082]
-05/10 05:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
-05/10 05:26:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:26:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:26:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:26:26 INFO: [Worker 0] Worker 0 house 1 episode 55/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:26:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:26:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:26:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:26:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:26:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.810s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:26:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.429[m] 93.762[deg]	[grasp_sample.py: 539]
-05/10 05:26:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:26:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:26:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:26:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:26:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:27:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:27:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:27:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:27:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:27:17 INFO: [Worker 0] Worker 0 house 1 episode 53 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:27:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:27:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:27:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:27:48 INFO: [Worker 0] Saved videos eagerly for episode 37 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:27:48 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 05:27:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:28:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:28:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:28:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.98s (batch: 4.62s, save: 12.36s)	[pipeline.py: 300]
-05/10 05:28:06 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=1.00s:
-  episode_total: mean=196.79s, total=393.57s, count=2, min=167892.4ms, max=225680.1ms
-  sensor_polling: mean=549.2ms, total=301.49s, count=549, min=456.5ms, max=963.9ms
-  physics_step: mean=28.7ms, total=15.75s, count=549, min=16.4ms, max=133.7ms
-  save_trajectories: mean=12.36s, total=12.36s, count=1, min=12363.3ms, max=12363.3ms
-  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4615.8ms, max=4615.8ms
-  task_sampling: mean=498.0ms, total=995.9ms, count=2, min=377.2ms, max=618.7ms
-  task_specific_sample: mean=494.3ms, total=988.6ms, count=2, min=373.0ms, max=615.6ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.6ms
-  mj_forward_sync: mean=462.3us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=29.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:28:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:28:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:28:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:28:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:28:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:28:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:28:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:28:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:28:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007157m	[env.py: 870]
-05/10 05:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:28:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76503347  0.79136298  0.00715685] yaw=-160.9deg	[env.py: 1019]
-05/10 05:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77984555  0.69586768  0.00715685] yaw=-158.1deg	[env.py: 1019]
-05/10 05:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82320365  0.87130319  0.00715685] yaw=-156.1deg	[env.py: 1019]
-05/10 05:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:28:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.7ms, total=103.7ms	[env.py: 1075]
-05/10 05:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.765, 0.791, 0.007)	[env.py: 1079]
-05/10 05:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.9 deg	[env.py: 1082]
-05/10 05:28:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
-05/10 05:28:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:28:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:28:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:28:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:28:08 INFO: [Worker 0] Worker 0 house 1 episode 54/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:28:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:28:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:28:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:28:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:28:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.896s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:28:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.533[m] 85.359[deg]	[grasp_sample.py: 539]
-05/10 05:28:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:28:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:28:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:28:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:28:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:28:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:28:15 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 05:28:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:28:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:28:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:28:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 66 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:28:18 INFO: [Worker 0] Feasibility-checked 66 grasps in 2.842s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:28:18 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.092[m] 6.739[deg]	[grasp_sample.py: 539]
-05/10 05:28:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:28:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:28:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:28:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:28:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:28:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:28:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:28:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:28:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:28:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:28:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:28:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:28:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:28:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:28:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:28:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 70 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:28:40 INFO: [Worker 0] Worker 0 house 1 episode 55 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:28:42 INFO: [Worker 0] Feasibility-checked 70 grasps in 6.740s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:28:42 INFO: [Worker 0] Feasible grasp found 130 (originally 15): w/ 0.164[m] 6.324[deg]	[grasp_sample.py: 539]
-05/10 05:28:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:28:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:28:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:28:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:28:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:28:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:28:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:28:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:28:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:28:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:29:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:29:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:29:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:29:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:29:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:29:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:29:04 INFO: [Worker 0] Saved videos eagerly for episode 37 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:29:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 05:29:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:29:06 INFO: [Worker 0] Feasibility-checked 76 grasps in 5.631s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:29:06 INFO: [Worker 0] Feasible grasp found 130 (originally 15): w/ 0.153[m] 5.927[deg]	[grasp_sample.py: 539]
-05/10 05:29:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:29:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:29:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:29:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:29:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:29:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:29:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:29:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:29:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:29:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:29:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:29:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.28s (batch: 4.55s, save: 10.73s)	[pipeline.py: 300]
-05/10 05:29:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:29:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:29:20 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.97s:
-  episode_total: mean=220.65s, total=220.65s, count=1, min=220652.5ms, max=220652.5ms
-  sensor_polling: mean=551.9ms, total=165.58s, count=300, min=452.7ms, max=1021.9ms
-  save_trajectories: mean=10.73s, total=10.73s, count=1, min=10733.6ms, max=10733.6ms
-  physics_step: mean=27.3ms, total=8.20s, count=300, min=16.0ms, max=121.8ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4549.7ms, max=4549.7ms
-  task_sampling: mean=965.4ms, total=965.4ms, count=1, min=965.4ms, max=965.4ms
-  task_specific_sample: mean=959.9ms, total=959.9ms, count=1, min=959.9ms, max=959.9ms
-  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
-  mj_forward_sync: mean=765.3us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
-  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:29:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:29:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:29:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:29:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:29:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:29:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:29:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:29:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:29:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:29:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:29:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:29:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.022832m	[env.py: 870]
-05/10 05:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:29:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90942435  0.56483778 -0.02283237] yaw=-178.2deg	[env.py: 1019]
-05/10 05:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:29:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=280.3ms, total=280.4ms	[env.py: 1075]
-05/10 05:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.565, -0.023)	[env.py: 1079]
-05/10 05:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.2 deg	[env.py: 1082]
-05/10 05:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.797m	[env.py: 1086]
-05/10 05:29:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:29:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:29:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:29:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:29:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:29:22 INFO: [Worker 0] Worker 0 house 1 episode 56/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:29:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:29:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:29:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:29:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:29:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:29:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:29:23 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 05:29:23 INFO: [Worker 0] Worker 0 house 1 episode 53 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:29:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.617s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:29:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.355[m] 91.273[deg]	[grasp_sample.py: 539]
-05/10 05:29:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:29:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:29:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:29:25 INFO: [Worker 0] Worker 0 house 1 episode 55 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:29:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:29:47 INFO: [Worker 0] Saved videos eagerly for episode 40 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:29:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 05:29:47 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
-05/10 05:29:53 INFO: [Worker 0] Saved videos eagerly for episode 37 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:29:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 05:29:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:30:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:30:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:30:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.71s (batch: 4.40s, save: 8.32s)	[pipeline.py: 300]
-05/10 05:30:01 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=0.45s:
-  episode_total: mean=263.92s, total=263.92s, count=1, min=263920.1ms, max=263920.1ms
-  sensor_polling: mean=556.2ms, total=156.31s, count=281, min=459.8ms, max=1244.6ms
-  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8316.9ms, max=8316.9ms
-  physics_step: mean=27.5ms, total=7.72s, count=281, min=16.4ms, max=104.0ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4396.6ms, max=4396.6ms
-  task_sampling: mean=450.0ms, total=450.0ms, count=1, min=450.0ms, max=450.0ms
-  task_specific_sample: mean=445.2ms, total=445.2ms, count=1, min=445.2ms, max=445.2ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=579.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=26.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:30:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:30:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:30:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:30:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:30:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:30:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:30:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:30:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:30:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:30:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016907m	[env.py: 870]
-05/10 05:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:30:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82285495  0.02471008  0.01690715] yaw=153.8deg	[env.py: 1019]
-05/10 05:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.6746019   0.55694955  0.01690715] yaw=-170.0deg	[env.py: 1019]
-05/10 05:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10506124  1.02496403  0.01690715] yaw=-136.1deg	[env.py: 1019]
-05/10 05:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:30:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.1ms, total=115.1ms	[env.py: 1075]
-05/10 05:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.025, 0.017)	[env.py: 1079]
-05/10 05:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.8 deg	[env.py: 1082]
-05/10 05:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
-05/10 05:30:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:30:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:30:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:30:03 INFO: [Worker 0] Worker 0 house 1 episode 54/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:30:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:30:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:30:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:30:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:30:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.642s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:30:08 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.555[m] 95.346[deg]	[grasp_sample.py: 539]
-05/10 05:30:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:30:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:30:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:30:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:30:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:30:08 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.66s (batch: 4.51s, save: 11.15s)	[pipeline.py: 300]
-05/10 05:30:09 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.65s:
-  episode_total: mean=223.94s, total=223.94s, count=1, min=223938.0ms, max=223938.0ms
-  sensor_polling: mean=546.7ms, total=164.02s, count=300, min=461.5ms, max=890.1ms
-  save_trajectories: mean=11.15s, total=11.15s, count=1, min=11149.0ms, max=11149.0ms
-  physics_step: mean=29.7ms, total=8.90s, count=300, min=18.8ms, max=120.5ms
-  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4509.4ms, max=4509.4ms
-  task_sampling: mean=649.9ms, total=649.9ms, count=1, min=649.9ms, max=649.9ms
-  task_specific_sample: mean=645.7ms, total=645.7ms, count=1, min=645.7ms, max=645.7ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=526.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:30:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:30:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:30:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:30:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:30:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:30:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:30:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:30:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:30:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.032m, effective arm-mount z=0.828m (base_body_z=-0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032310m	[env.py: 870]
-05/10 05:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:30:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8169821   0.92657198 -0.03231037] yaw=-147.4deg	[env.py: 1019]
-05/10 05:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92900914  1.1929508  -0.03231037] yaw=-137.5deg	[env.py: 1019]
-05/10 05:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.99410846  0.82715634 -0.03231037] yaw=-154.7deg	[env.py: 1019]
-05/10 05:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:30:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=300.2ms, total=300.2ms	[env.py: 1075]
-05/10 05:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.817, 0.927, -0.032)	[env.py: 1079]
-05/10 05:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.4 deg	[env.py: 1082]
-05/10 05:30:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
-05/10 05:30:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:30:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:30:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:30:12 INFO: [Worker 0] Worker 0 house 1 episode 56/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:30:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:30:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:30:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:30:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:30:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:30:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.537s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:30:18 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.594[m] 89.637[deg]	[grasp_sample.py: 539]
-05/10 05:30:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:30:19 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 05:30:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:30:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:30:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:30:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:30:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:30:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:30:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:30:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:30:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029599m	[env.py: 870]
-05/10 05:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:30:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99157846  0.74138908  0.029599  ] yaw=-167.7deg	[env.py: 1019]
-05/10 05:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69664583  0.57744987  0.029599  ] yaw=-171.2deg	[env.py: 1019]
-05/10 05:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93510472  1.01697355  0.029599  ] yaw=-142.9deg	[env.py: 1019]
-05/10 05:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:30:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=93.8ms, total=93.9ms	[env.py: 1075]
-05/10 05:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.992, 0.741, 0.030)	[env.py: 1079]
-05/10 05:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.7 deg	[env.py: 1082]
-05/10 05:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.757m	[env.py: 1086]
-05/10 05:30:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:30:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:30:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:30:22 INFO: [Worker 0] Worker 0 house 1 episode 57/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:30:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:30:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:30:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:30:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:30:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.692s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:30:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.362[m] 97.320[deg]	[grasp_sample.py: 539]
-05/10 05:30:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:30:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:30:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:31:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:31:03 INFO: [Worker 0] Worker 0 house 1 episode 54 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:31:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:31:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:31:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:31:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:31:31 INFO: [Worker 0] Saved videos eagerly for episode 38 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:31:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 05:31:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:31:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:31:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:31:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:31:45 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.55s (batch: 4.52s, save: 9.04s)	[pipeline.py: 300]
-05/10 05:31:46 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.41s:
-  episode_total: mean=217.81s, total=217.81s, count=1, min=217806.2ms, max=217806.2ms
-  sensor_polling: mean=538.6ms, total=161.59s, count=300, min=446.1ms, max=878.2ms
-  save_trajectories: mean=9.04s, total=9.04s, count=1, min=9035.8ms, max=9035.8ms
-  physics_step: mean=27.8ms, total=8.34s, count=300, min=16.9ms, max=120.0ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4516.7ms, max=4516.7ms
-  task_sampling: mean=414.3ms, total=414.3ms, count=1, min=414.3ms, max=414.3ms
-  task_specific_sample: mean=409.3ms, total=409.3ms, count=1, min=409.3ms, max=409.3ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=621.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:31:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:31:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:31:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:31:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:31:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:31:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:31:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:31:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:31:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:31:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:31:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.050m, effective arm-mount z=0.810m (base_body_z=-0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.049692m	[env.py: 870]
-05/10 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:31:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83921251  1.01476621 -0.0496923 ] yaw=-154.1deg	[env.py: 1019]
-05/10 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80698147  0.90972989 -0.0496923 ] yaw=-150.2deg	[env.py: 1019]
-05/10 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00378543  0.40503057 -0.0496923 ] yaw=171.8deg	[env.py: 1019]
-05/10 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:31:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=270.0ms, total=270.0ms	[env.py: 1075]
-05/10 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 1.015, -0.050)	[env.py: 1079]
-05/10 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.1 deg	[env.py: 1082]
-05/10 05:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
-05/10 05:31:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:31:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:31:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:31:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:31:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:31:48 INFO: [Worker 0] Worker 0 house 1 episode 55/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:31:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:31:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:31:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:31:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:31:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.980s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:31:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.580[m] 89.055[deg]	[grasp_sample.py: 539]
-05/10 05:31:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:31:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:31:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:32:14 INFO: [Worker 0] Worker 0 house 1 episode 56 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:32:39 INFO: [Worker 0] Saved videos eagerly for episode 38 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:32:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 05:32:39 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/10 05:32:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:32:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:32:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:32:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.41s (batch: 4.24s, save: 12.17s)	[pipeline.py: 300]
-05/10 05:32:56 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.62s:
-  episode_total: mean=214.25s, total=214.25s, count=1, min=214252.5ms, max=214252.5ms
-  sensor_polling: mean=537.2ms, total=156.87s, count=292, min=452.6ms, max=965.1ms
-  save_trajectories: mean=12.17s, total=12.17s, count=1, min=12172.9ms, max=12172.9ms
-  physics_step: mean=28.6ms, total=8.36s, count=292, min=18.4ms, max=129.3ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4239.1ms, max=4239.1ms
-  task_sampling: mean=617.8ms, total=617.8ms, count=1, min=617.8ms, max=617.8ms
-  task_specific_sample: mean=613.8ms, total=613.8ms, count=1, min=613.8ms, max=613.8ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=430.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:32:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:32:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:32:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:32:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:32:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:32:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:32:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:32:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:32:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:32:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:32:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002258m	[env.py: 870]
-05/10 05:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:32:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74960737  0.43901585 -0.0022578 ] yaw=176.4deg	[env.py: 1019]
-05/10 05:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95222762  0.43033962 -0.0022578 ] yaw=172.5deg	[env.py: 1019]
-05/10 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98349557  0.45235616 -0.0022578 ] yaw=186.5deg	[env.py: 1019]
-05/10 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:32:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=472.5ms, total=472.5ms	[env.py: 1075]
-05/10 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.750, 0.439, -0.002)	[env.py: 1079]
-05/10 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.4 deg	[env.py: 1082]
-05/10 05:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
-05/10 05:32:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:32:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:32:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:32:59 INFO: [Worker 0] Worker 0 house 1 episode 57/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:32:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:32:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:32:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:32:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:33:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.875s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:33:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.546[m] 101.368[deg]	[grasp_sample.py: 539]
-05/10 05:33:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:33:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:33:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:33:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:33:07 INFO: [Worker 0] Worker 0 house 1 episode 54 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:33:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:33:13 INFO: [Worker 0] Worker 0 house 1 episode 57 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:33:29 INFO: [Worker 0] Saved videos eagerly for episode 41 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:33:29 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 05:33:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:33:43 INFO: [Worker 0] Saved videos eagerly for episode 38 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:33:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 05:33:43 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
-05/10 05:33:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:33:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:33:48 INFO: [Worker 0] Successfully saved trajectory data for sim in 18.39s (batch: 5.25s, save: 13.14s)	[pipeline.py: 300]
-05/10 05:33:48 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.47s:
-  episode_total: mean=225.87s, total=225.87s, count=1, min=225873.7ms, max=225873.7ms
-  sensor_polling: mean=554.6ms, total=166.38s, count=300, min=455.7ms, max=983.6ms
-  save_trajectories: mean=13.14s, total=13.14s, count=1, min=13140.7ms, max=13140.7ms
-  physics_step: mean=28.9ms, total=8.68s, count=300, min=19.6ms, max=114.6ms
-  save_batch_prep: mean=5.25s, total=5.25s, count=1, min=5250.0ms, max=5250.0ms
-  task_sampling: mean=468.7ms, total=468.7ms, count=1, min=468.7ms, max=468.7ms
-  task_specific_sample: mean=464.4ms, total=464.4ms, count=1, min=464.4ms, max=464.4ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=442.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:33:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:33:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:33:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:33:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:33:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:33:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:33:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:33:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:33:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:33:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:33:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004736m	[env.py: 870]
-05/10 05:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:33:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 136.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88196958  0.20736454  0.00473559] yaw=155.3deg	[env.py: 1019]
-05/10 05:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.70686998  0.38025261  0.00473559] yaw=181.6deg	[env.py: 1019]
-05/10 05:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:33:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=606.9ms, total=607.0ms	[env.py: 1075]
-05/10 05:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.882, 0.207, 0.005)	[env.py: 1079]
-05/10 05:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.3 deg	[env.py: 1082]
-05/10 05:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
-05/10 05:33:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:33:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:33:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:33:51 INFO: [Worker 0] Worker 0 house 1 episode 55/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:33:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:33:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:33:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:33:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:33:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.608s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:33:52 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.441[m] 91.654[deg]	[grasp_sample.py: 539]
-05/10 05:33:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:33:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:33:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:34:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:34:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:34:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.26s (batch: 5.39s, save: 10.87s)	[pipeline.py: 300]
-05/10 05:34:00 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=1.07s:
-  episode_total: mean=113.64s, total=227.28s, count=2, min=8294.2ms, max=218990.5ms
-  sensor_polling: mean=539.5ms, total=158.62s, count=294, min=452.4ms, max=1005.6ms
-  save_trajectories: mean=10.87s, total=10.87s, count=1, min=10874.3ms, max=10874.3ms
-  physics_step: mean=27.1ms, total=7.97s, count=294, min=15.9ms, max=105.7ms
-  save_batch_prep: mean=5.39s, total=5.39s, count=1, min=5389.8ms, max=5389.8ms
-  task_sampling: mean=535.5ms, total=1.07s, count=2, min=402.4ms, max=668.6ms
-  task_specific_sample: mean=531.0ms, total=1.06s, count=2, min=398.4ms, max=663.6ms
-  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.6ms, max=3.3ms
-  mj_forward_sync: mean=643.3us, total=1.3ms, count=2, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:34:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:34:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:34:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:34:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:34:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:34:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:34:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:34:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:34:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021028m	[env.py: 870]
-05/10 05:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:34:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79913747  0.5514061   0.02102765] yaw=-171.8deg	[env.py: 1019]
-05/10 05:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82334993  0.32726758  0.02102765] yaw=169.0deg	[env.py: 1019]
-05/10 05:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99670897  1.14485917  0.02102765] yaw=-133.7deg	[env.py: 1019]
-05/10 05:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:34:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.6ms, total=187.6ms	[env.py: 1075]
-05/10 05:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.799, 0.551, 0.021)	[env.py: 1079]
-05/10 05:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.8 deg	[env.py: 1082]
-05/10 05:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
-05/10 05:34:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:34:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:34:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:34:02 INFO: [Worker 0] Worker 0 house 1 episode 58/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:34:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:34:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:34:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:34:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:34:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.542s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:34:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.458[m] 88.702[deg]	[grasp_sample.py: 539]
-05/10 05:34:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:34:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:34:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:34:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:34:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:34:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:34:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:34:40 INFO: [Worker 0] Worker 0 house 1 episode 55 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:34:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:34:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:34:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:34:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:35:02 INFO: [Worker 0] Saved videos eagerly for episode 39 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:35:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 05:35:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:35:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:35:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:35:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:35:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.69s (batch: 4.21s, save: 9.48s)	[pipeline.py: 300]
-05/10 05:35:17 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.59s:
-  episode_total: mean=209.19s, total=209.19s, count=1, min=209189.2ms, max=209189.2ms
-  sensor_polling: mean=520.7ms, total=156.20s, count=300, min=410.9ms, max=1090.3ms
-  save_trajectories: mean=9.48s, total=9.48s, count=1, min=9479.2ms, max=9479.2ms
-  physics_step: mean=26.6ms, total=7.98s, count=300, min=18.5ms, max=118.3ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4211.9ms, max=4211.9ms
-  task_sampling: mean=589.4ms, total=589.4ms, count=1, min=589.4ms, max=589.4ms
-  task_specific_sample: mean=585.0ms, total=585.0ms, count=1, min=585.0ms, max=585.0ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=661.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:35:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:35:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:35:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:35:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:35:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:35:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:35:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:35:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:35:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018299m	[env.py: 870]
-05/10 05:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:35:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78197973  0.29808948  0.01829902] yaw=165.6deg	[env.py: 1019]
-05/10 05:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92132345  0.38241785  0.01829902] yaw=163.2deg	[env.py: 1019]
-05/10 05:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79090403  0.33506181  0.01829902] yaw=181.9deg	[env.py: 1019]
-05/10 05:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:35:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=283.6ms, total=283.6ms	[env.py: 1075]
-05/10 05:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.298, 0.018)	[env.py: 1079]
-05/10 05:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.6 deg	[env.py: 1082]
-05/10 05:35:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
-05/10 05:35:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:35:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:35:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:35:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:35:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:35:19 INFO: [Worker 0] Worker 0 house 1 episode 56/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:35:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:35:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:35:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:35:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:35:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.512s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:35:19 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.549[m] 103.311[deg]	[grasp_sample.py: 539]
-05/10 05:35:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:35:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:35:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:35:41 INFO: [Worker 0] Worker 0 house 1 episode 57 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:35:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:35:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:35:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:35:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:35:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:35:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:36:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:36:00 INFO: [Worker 0] Saved videos eagerly for episode 39 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:36:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 05:36:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:36:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:36:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:36:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:36:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:36:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:36:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:36:02 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.401s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:36:02 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.101[deg]	[grasp_sample.py: 539]
-05/10 05:36:03 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 05:36:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:36:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:36:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:36:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:36:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:36:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:36:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:36:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:36:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:36:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:36:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016518m	[env.py: 870]
-05/10 05:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:36:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8071806   0.45809492  0.01651787] yaw=181.1deg	[env.py: 1019]
-05/10 05:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00196695  0.36880364  0.01651787] yaw=172.0deg	[env.py: 1019]
-05/10 05:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94789349  1.10677012  0.01651787] yaw=-138.5deg	[env.py: 1019]
-05/10 05:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:36:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.4ms, total=155.5ms	[env.py: 1075]
-05/10 05:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.807, 0.458, 0.017)	[env.py: 1079]
-05/10 05:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.1 deg	[env.py: 1082]
-05/10 05:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
-05/10 05:36:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:36:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:36:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:36:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:36:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:36:05 INFO: [Worker 0] Worker 0 house 1 episode 56/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:36:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:36:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:36:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:36:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:36:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:36:06 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.463[m] 97.279[deg]	[grasp_sample.py: 539]
-05/10 05:36:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:36:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:36:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:36:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:36:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:36:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:36:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.91s (batch: 3.94s, save: 9.96s)	[pipeline.py: 300]
-05/10 05:36:15 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=0.95s:
-  episode_total: mean=196.96s, total=196.96s, count=1, min=196957.5ms, max=196957.5ms
-  sensor_polling: mean=493.9ms, total=148.18s, count=300, min=407.1ms, max=802.0ms
-  save_trajectories: mean=9.96s, total=9.96s, count=1, min=9964.0ms, max=9964.0ms
-  physics_step: mean=24.3ms, total=7.30s, count=300, min=17.8ms, max=132.9ms
-  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3942.9ms, max=3942.9ms
-  task_sampling: mean=949.7ms, total=949.7ms, count=1, min=949.7ms, max=949.7ms
-  task_specific_sample: mean=945.4ms, total=945.4ms, count=1, min=945.4ms, max=945.4ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=532.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:36:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:36:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:36:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:36:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:36:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:36:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:36:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:36:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:36:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035955m	[env.py: 870]
-05/10 05:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:36:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01255658  0.79157531  0.0359555 ] yaw=-154.2deg	[env.py: 1019]
-05/10 05:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76740385  0.45681081  0.0359555 ] yaw=171.2deg	[env.py: 1019]
-05/10 05:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:36:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=173.9ms, total=173.9ms	[env.py: 1075]
-05/10 05:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.013, 0.792, 0.036)	[env.py: 1079]
-05/10 05:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg	[env.py: 1082]
-05/10 05:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
-05/10 05:36:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:36:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:36:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:36:17 INFO: [Worker 0] Worker 0 house 1 episode 58/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:36:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:36:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:36:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:36:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:36:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:36:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.308[m] 89.567[deg]	[grasp_sample.py: 539]
-05/10 05:36:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:36:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:36:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:36:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:36:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:36:35 INFO: [Worker 0] Worker 0 house 1 episode 58 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:36:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:36:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:36:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:36:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:36:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:36:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:36:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:36:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:36:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:36:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:37:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:37:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:37:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:37:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:37:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:37:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:37:00 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.447s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:37:00 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.269[deg]	[grasp_sample.py: 539]
-05/10 05:37:01 INFO: [Worker 0] Saved videos eagerly for episode 39 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:37:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 05:37:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:37:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:37:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:37:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:37:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:37:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:37:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:37:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:37:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:37:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:37:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.22s (batch: 4.15s, save: 10.07s)	[pipeline.py: 300]
-05/10 05:37:16 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.47s:
-  episode_total: mean=193.73s, total=193.73s, count=1, min=193731.1ms, max=193731.1ms
-  sensor_polling: mean=468.1ms, total=140.44s, count=300, min=396.8ms, max=838.1ms
-  save_trajectories: mean=10.07s, total=10.07s, count=1, min=10072.0ms, max=10072.0ms
-  physics_step: mean=23.1ms, total=6.93s, count=300, min=16.6ms, max=71.6ms
-  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4151.7ms, max=4151.7ms
-  task_sampling: mean=466.4ms, total=466.4ms, count=1, min=466.4ms, max=466.4ms
-  task_specific_sample: mean=462.4ms, total=462.4ms, count=1, min=462.4ms, max=462.4ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=517.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:37:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:37:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:37:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:37:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:37:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:37:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:37:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:37:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:37:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:37:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035118m	[env.py: 870]
-05/10 05:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:37:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86584525  0.46656795 -0.03511785] yaw=185.8deg	[env.py: 1019]
-05/10 05:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10514144  1.04422198 -0.03511785] yaw=-136.1deg	[env.py: 1019]
-05/10 05:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01865818  0.25251666 -0.03511785] yaw=164.9deg	[env.py: 1019]
-05/10 05:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:37:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.9ms, total=149.9ms	[env.py: 1075]
-05/10 05:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.866, 0.467, -0.035)	[env.py: 1079]
-05/10 05:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.8 deg	[env.py: 1082]
-05/10 05:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m	[env.py: 1086]
-05/10 05:37:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:37:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:37:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:37:18 INFO: [Worker 0] Worker 0 house 1 episode 59/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:37:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:37:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:37:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:37:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:37:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.416s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:37:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.396[m] 88.302[deg]	[grasp_sample.py: 539]
-05/10 05:37:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:37:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:37:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:37:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:37:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:37:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:37:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:37:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:37:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:37:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:37:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:37:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:37:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:37:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:37:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:37:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:37:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:37:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.545s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:37:37 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.935[deg]	[grasp_sample.py: 539]
-05/10 05:37:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:37:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:37:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:37:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:37:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:37:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:38:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:38:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:38:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:38:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:38:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:38:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:38:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:38:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:38:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:38:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:38:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:38:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:38:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:38:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 68 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:38:19 INFO: [Worker 0] Feasibility-checked 68 grasps in 4.537s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:38:19 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.033[m] 12.317[deg]	[grasp_sample.py: 539]
-05/10 05:38:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:38:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:38:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:38:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:38:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:38:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:38:37 INFO: [Worker 0] Worker 0 house 1 episode 56 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 05:38:37 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=False episode_total=0.53s:
-  episode_total: mean=198.33s, total=198.33s, count=1, min=198331.9ms, max=198331.9ms
-  sensor_polling: mean=472.0ms, total=141.60s, count=300, min=406.8ms, max=948.1ms
-  physics_step: mean=20.9ms, total=6.27s, count=300, min=13.9ms, max=59.4ms
-  task_sampling: mean=531.2ms, total=531.2ms, count=1, min=531.2ms, max=531.2ms
-  task_specific_sample: mean=528.1ms, total=528.1ms, count=1, min=528.1ms, max=528.1ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=382.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:38:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:38:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:38:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:38:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:38:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:38:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:38:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.029043m	[env.py: 870]
-05/10 05:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:38:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17108009  1.08252162 -0.02904276] yaw=-138.4deg	[env.py: 1019]
-05/10 05:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96162071  0.91500024 -0.02904276] yaw=-148.5deg	[env.py: 1019]
-05/10 05:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70942655  0.95434741 -0.02904276] yaw=-145.4deg	[env.py: 1019]
-05/10 05:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:38:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=335.3ms, total=335.3ms	[env.py: 1075]
-05/10 05:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.171, 1.083, -0.029)	[env.py: 1079]
-05/10 05:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.4 deg	[env.py: 1082]
-05/10 05:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m	[env.py: 1086]
-05/10 05:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:38:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:38:39 INFO: [Worker 0] Worker 0 house 1 episode 57/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:38:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:38:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:38:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:38:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.120s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:38:41 INFO: [Worker 0] Worker 0 house 1 episode 56 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:38:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.109s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:38:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.394[m] 93.280[deg]	[grasp_sample.py: 539]
-05/10 05:38:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:38:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:38:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:38:42 INFO: [Worker 0] Worker 0 house 1 episode 58 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:39:05 INFO: [Worker 0] Saved videos eagerly for episode 40 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:39:05 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 05:39:05 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
-05/10 05:39:06 INFO: [Worker 0] Saved videos eagerly for episode 42 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:39:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 05:39:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:39:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:39:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:39:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:39:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.55s (batch: 3.85s, save: 8.70s)	[pipeline.py: 300]
-05/10 05:39:19 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.44s:
-  episode_total: mean=181.96s, total=181.96s, count=1, min=181961.2ms, max=181961.2ms
-  sensor_polling: mean=477.4ms, total=134.64s, count=282, min=406.0ms, max=962.4ms
-  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8703.5ms, max=8703.5ms
-  physics_step: mean=22.0ms, total=6.20s, count=282, min=14.5ms, max=94.0ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3848.2ms, max=3848.2ms
-  task_sampling: mean=438.8ms, total=438.8ms, count=1, min=438.8ms, max=438.8ms
-  task_specific_sample: mean=435.2ms, total=435.2ms, count=1, min=435.2ms, max=435.2ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=405.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:39:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:39:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:39:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.01s (batch: 4.07s, save: 8.94s)	[pipeline.py: 300]
-05/10 05:39:20 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=1.38s:
-  episode_total: mean=164.08s, total=328.15s, count=2, min=132792.5ms, max=195357.8ms
-  sensor_polling: mean=476.4ms, total=254.39s, count=534, min=406.6ms, max=1003.1ms
-  physics_step: mean=23.0ms, total=12.29s, count=534, min=16.8ms, max=74.5ms
-  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8935.5ms, max=8935.5ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4073.5ms, max=4073.5ms
-  task_sampling: mean=689.9ms, total=1.38s, count=2, min=420.4ms, max=959.4ms
-  task_specific_sample: mean=686.1ms, total=1.37s, count=2, min=417.2ms, max=955.0ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.3ms, max=2.9ms
-  mj_forward_sync: mean=546.0us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
-  policy_setup: mean=14.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:39:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:39:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:39:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:39:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:39:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:39:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:39:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:39:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:39:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024947m	[env.py: 870]
-05/10 05:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:39:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67215016  0.79989965 -0.02494738] yaw=-165.8deg	[env.py: 1019]
-05/10 05:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71592724  0.93992466 -0.02494738] yaw=-144.6deg	[env.py: 1019]
-05/10 05:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96609348  0.69056614 -0.02494738] yaw=-163.7deg	[env.py: 1019]
-05/10 05:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:39:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=526.7ms, total=526.8ms	[env.py: 1075]
-05/10 05:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.800, -0.025)	[env.py: 1079]
-05/10 05:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.8 deg	[env.py: 1082]
-05/10 05:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
-05/10 05:39:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:39:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:39:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:39:21 INFO: [Worker 0] Worker 0 house 1 episode 59/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:39:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:39:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:39:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:39:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:39:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:39:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:39:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:39:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:39:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:39:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:39:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:39:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:39:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:39:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:39:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022796m	[env.py: 870]
-05/10 05:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:39:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82596936  0.74326628  0.02279603] yaw=-169.7deg	[env.py: 1019]
-05/10 05:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83910163  0.38663057  0.02279603] yaw=184.9deg	[env.py: 1019]
-05/10 05:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0403714   1.30577572  0.02279603] yaw=-122.6deg	[env.py: 1019]
-05/10 05:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:39:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.6ms, total=79.6ms	[env.py: 1075]
-05/10 05:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.826, 0.743, 0.023)	[env.py: 1079]
-05/10 05:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.7 deg	[env.py: 1082]
-05/10 05:39:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
-05/10 05:39:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:39:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:39:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:39:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:39:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:39:22 INFO: [Worker 0] Worker 0 house 1 episode 57/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:39:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:39:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:39:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:39:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:39:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.842s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:39:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.489[m] 94.023[deg]	[grasp_sample.py: 539]
-05/10 05:39:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:39:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:39:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:39:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.370s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:39:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.662[m] 98.079[deg]	[grasp_sample.py: 539]
-05/10 05:39:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:39:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:39:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:39:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:39:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:39:54 INFO: [Worker 0] Worker 0 house 1 episode 59 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:40:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:40:17 INFO: [Worker 0] Saved videos eagerly for episode 40 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:40:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 05:40:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:40:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:40:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:40:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:40:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:40:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:40:32 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.97s (batch: 4.01s, save: 10.95s)	[pipeline.py: 300]
-05/10 05:40:33 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.49s:
-  episode_total: mean=195.65s, total=195.65s, count=1, min=195648.8ms, max=195648.8ms
-  sensor_polling: mean=482.8ms, total=144.83s, count=300, min=390.6ms, max=1038.1ms
-  save_trajectories: mean=10.95s, total=10.95s, count=1, min=10953.9ms, max=10953.9ms
-  physics_step: mean=23.9ms, total=7.16s, count=300, min=14.2ms, max=69.2ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4014.3ms, max=4014.3ms
-  task_sampling: mean=487.3ms, total=487.3ms, count=1, min=487.3ms, max=487.3ms
-  task_specific_sample: mean=483.8ms, total=483.8ms, count=1, min=483.8ms, max=483.8ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=372.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:40:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:40:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:40:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:40:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:40:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:40:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:40:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:40:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:40:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028229m	[env.py: 870]
-05/10 05:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:40:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.19283021  0.96761747 -0.02822902] yaw=-146.3deg	[env.py: 1019]
-05/10 05:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91936238  0.27768786 -0.02822902] yaw=161.0deg	[env.py: 1019]
-05/10 05:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80644694  0.83350257 -0.02822902] yaw=-167.6deg	[env.py: 1019]
-05/10 05:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:40:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.6ms, total=108.7ms	[env.py: 1075]
-05/10 05:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.193, 0.968, -0.028)	[env.py: 1079]
-05/10 05:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.3 deg	[env.py: 1082]
-05/10 05:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.704m	[env.py: 1086]
-05/10 05:40:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:40:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:40:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:40:35 INFO: [Worker 0] Worker 0 house 1 episode 60/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:40:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:40:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:40:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:40:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:40:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.114s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:40:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.314[m] 87.694[deg]	[grasp_sample.py: 539]
-05/10 05:40:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:40:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:40:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:40:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:40:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:40:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:40:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:40:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:40:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:40:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:40:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:40:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:40:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:40:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:40:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:40:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:40:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:40:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:40:57 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.771s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:40:57 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.240[deg]	[grasp_sample.py: 539]
-05/10 05:40:58 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 05:41:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:41:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:41:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:41:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:41:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:41:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:41:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:41:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:41:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:41:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:41:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007875m	[env.py: 870]
-05/10 05:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:41:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87809878  0.53828179 -0.00787515] yaw=-177.3deg	[env.py: 1019]
-05/10 05:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9548639   0.61084306 -0.00787515] yaw=-163.1deg	[env.py: 1019]
-05/10 05:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84839146  0.07469301 -0.00787515] yaw=148.7deg	[env.py: 1019]
-05/10 05:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:41:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=65.4ms, total=65.4ms	[env.py: 1075]
-05/10 05:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.878, 0.538, -0.008)	[env.py: 1079]
-05/10 05:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.3 deg	[env.py: 1082]
-05/10 05:41:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m	[env.py: 1086]
-05/10 05:41:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:41:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:41:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:41:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:41:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:41:00 INFO: [Worker 0] Worker 0 house 1 episode 58/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:41:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:41:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:41:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:41:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:41:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.413s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:41:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.384[m] 91.509[deg]	[grasp_sample.py: 539]
-05/10 05:41:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:41:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:41:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:41:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:41:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:41:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:41:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:41:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:41:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:41:54 INFO: [Worker 0] Worker 0 house 1 episode 59 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:41:55 INFO: [Worker 0] Worker 0 house 1 episode 57 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:42:20 INFO: [Worker 0] Saved videos eagerly for episode 41 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:42:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 05:42:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:42:20 INFO: [Worker 0] Saved videos eagerly for episode 43 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:42:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 05:42:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:42:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:42:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:42:32 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.10s (batch: 3.99s, save: 8.11s)	[pipeline.py: 300]
-05/10 05:42:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:42:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:42:32 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.74s (batch: 3.87s, save: 7.87s)	[pipeline.py: 300]
-05/10 05:42:33 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.86s:
-  episode_total: mean=192.06s, total=192.06s, count=1, min=192058.9ms, max=192058.9ms
-  sensor_polling: mean=468.8ms, total=140.64s, count=300, min=399.9ms, max=885.9ms
-  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8106.7ms, max=8106.7ms
-  physics_step: mean=21.1ms, total=6.33s, count=300, min=13.8ms, max=44.7ms
-  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3988.4ms, max=3988.4ms
-  task_sampling: mean=857.6ms, total=857.6ms, count=1, min=857.6ms, max=857.6ms
-  task_specific_sample: mean=839.0ms, total=839.0ms, count=1, min=839.0ms, max=839.0ms
-  scene_randomize: mean=17.0ms, total=17.0ms, count=1, min=17.0ms, max=17.0ms
-  mj_forward_sync: mean=729.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:42:33 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=0.38s:
-  episode_total: mean=191.08s, total=191.08s, count=1, min=191080.9ms, max=191080.9ms
-  sensor_polling: mean=472.1ms, total=141.64s, count=300, min=410.4ms, max=825.9ms
-  save_trajectories: mean=7.87s, total=7.87s, count=1, min=7867.8ms, max=7867.8ms
-  physics_step: mean=21.3ms, total=6.40s, count=300, min=16.7ms, max=48.5ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3872.3ms, max=3872.3ms
-  task_sampling: mean=384.0ms, total=384.0ms, count=1, min=384.0ms, max=384.0ms
-  task_specific_sample: mean=380.3ms, total=380.3ms, count=1, min=380.3ms, max=380.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=393.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:42:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:42:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:42:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:42:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:42:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:42:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:42:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:42:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:42:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002077m	[env.py: 870]
-05/10 05:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:42:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78812872  0.0089648   0.00207739] yaw=152.0deg	[env.py: 1019]
-05/10 05:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:42:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:42:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:42:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:42:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:42:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:42:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:42:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:42:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:42:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043485m	[env.py: 870]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:42:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:42:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=421.2ms, total=421.2ms	[env.py: 1075]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.788, 0.009, 0.002)	[env.py: 1079]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.0 deg	[env.py: 1082]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
-05/10 05:42:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:42:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95858146  0.40366537 -0.04348468] yaw=180.0deg	[env.py: 1019]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65887451  0.78380738 -0.04348468] yaw=-166.5deg	[env.py: 1019]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84369868  0.07486632 -0.04348468] yaw=152.6deg	[env.py: 1019]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:42:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=264.1ms, total=264.1ms	[env.py: 1075]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.404, -0.043)	[env.py: 1079]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.0 deg	[env.py: 1082]
-05/10 05:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.748m	[env.py: 1086]
-05/10 05:42:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:42:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:42:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:42:35 INFO: [Worker 0] Worker 0 house 1 episode 60/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:42:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:42:35 INFO: [Worker 0] Worker 0 house 1 episode 58/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:42:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:42:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:42:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:42:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:42:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:42:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:42:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:42:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:42:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.903s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:42:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.339[m] 93.678[deg]	[grasp_sample.py: 539]
-05/10 05:42:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:42:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:42:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:42:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.209s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:42:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.578[m] 89.648[deg]	[grasp_sample.py: 539]
-05/10 05:42:40 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 05:42:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:42:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:42:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:42:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:42:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:42:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:42:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:42:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:42:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:42:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:42:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041299m	[env.py: 870]
-05/10 05:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:42:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8377759   0.79650316 -0.04129865] yaw=-154.0deg	[env.py: 1019]
-05/10 05:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.20190096  0.98018553 -0.04129865] yaw=-139.9deg	[env.py: 1019]
-05/10 05:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9886699   0.79939821 -0.04129865] yaw=-156.5deg	[env.py: 1019]
-05/10 05:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:42:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.9ms, total=195.9ms	[env.py: 1075]
-05/10 05:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.838, 0.797, -0.041)	[env.py: 1079]
-05/10 05:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.0 deg	[env.py: 1082]
-05/10 05:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
-05/10 05:42:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:42:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:42:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:42:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:42:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:42:42 INFO: [Worker 0] Worker 0 house 1 episode 61/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:42:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:42:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:42:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:42:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:42:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.658s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:42:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.463[m] 81.625[deg]	[grasp_sample.py: 539]
-05/10 05:42:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:42:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:42:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:42:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:42:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:42:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:42:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:42:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:42:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:42:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:42:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:42:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:42:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:42:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:42:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:43:01 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.595s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:43:01 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.341[deg]	[grasp_sample.py: 539]
-05/10 05:43:02 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 05:43:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:43:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:43:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:43:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:43:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:43:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:43:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:43:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:43:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034100m	[env.py: 870]
-05/10 05:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:43:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72976206  0.18173788  0.03410021] yaw=155.6deg	[env.py: 1019]
-05/10 05:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:43:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:43:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=884.6ms, total=884.7ms	[env.py: 1075]
-05/10 05:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.182, 0.034)	[env.py: 1079]
-05/10 05:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.6 deg	[env.py: 1082]
-05/10 05:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
-05/10 05:43:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:43:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:43:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:43:05 INFO: [Worker 0] Worker 0 house 1 episode 61/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:43:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:43:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:43:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:43:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:43:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.686s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:43:06 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.608[m] 92.705[deg]	[grasp_sample.py: 539]
-05/10 05:43:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:43:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:43:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:43:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:43:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:43:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:43:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:43:35 INFO: [Worker 0] Worker 0 house 1 episode 58 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:43:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:43:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:43:59 INFO: [Worker 0] Saved videos eagerly for episode 40 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:43:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 05:43:59 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
-05/10 05:44:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:44:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:44:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:44:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:44:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:44:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:44:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:44:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:44:12 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.73s (batch: 4.52s, save: 8.21s)	[pipeline.py: 300]
-05/10 05:44:13 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=1.01s:
-  episode_total: mean=166.35s, total=332.70s, count=2, min=139835.2ms, max=192866.6ms
-  sensor_polling: mean=474.1ms, total=257.41s, count=543, min=380.9ms, max=852.7ms
-  physics_step: mean=23.5ms, total=12.75s, count=543, min=14.2ms, max=76.4ms
-  save_trajectories: mean=8.21s, total=8.21s, count=1, min=8206.1ms, max=8206.1ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4522.2ms, max=4522.2ms
-  task_sampling: mean=502.7ms, total=1.01s, count=2, min=311.5ms, max=693.9ms
-  task_specific_sample: mean=499.0ms, total=998.0ms, count=2, min=307.3ms, max=690.6ms
-  scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=1.4ms, max=1.8ms
-  mj_forward_sync: mean=414.7us, total=0.8ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:44:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:44:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:44:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:44:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:44:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:44:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:44:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:44:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:44:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:44:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:44:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003966m	[env.py: 870]
-05/10 05:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:44:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92896767  0.42363473  0.00396622] yaw=175.9deg	[env.py: 1019]
-05/10 05:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:44:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=283.9ms, total=283.9ms	[env.py: 1075]
-05/10 05:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.424, 0.004)	[env.py: 1079]
-05/10 05:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.9 deg	[env.py: 1082]
-05/10 05:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m	[env.py: 1086]
-05/10 05:44:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:44:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:44:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:44:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:44:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:44:15 INFO: [Worker 0] Worker 0 house 1 episode 59/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:44:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:44:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:44:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:44:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:44:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:44:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.352[m] 94.053[deg]	[grasp_sample.py: 539]
-05/10 05:44:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:44:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:44:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:44:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:44:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:44:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:45:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:45:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:45:18 INFO: [Worker 0] Worker 0 house 1 episode 61 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:45:27 INFO: [Worker 0] Worker 0 house 1 episode 58 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:45:41 INFO: [Worker 0] Saved videos eagerly for episode 42 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:45:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 05:45:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:45:44 INFO: [Worker 0] Worker 0 house 1 episode 61 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:45:50 INFO: [Worker 0] Saved videos eagerly for episode 44 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:45:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 05:45:50 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
-05/10 05:45:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:45:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:45:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.12s (batch: 4.25s, save: 10.87s)	[pipeline.py: 300]
-05/10 05:45:56 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=1.22s:
-  episode_total: mean=100.23s, total=200.47s, count=2, min=5737.1ms, max=194728.9ms
-  sensor_polling: mean=482.2ms, total=144.66s, count=300, min=401.8ms, max=880.8ms
-  save_trajectories: mean=10.87s, total=10.87s, count=1, min=10870.6ms, max=10870.6ms
-  physics_step: mean=22.0ms, total=6.61s, count=300, min=16.6ms, max=47.4ms
-  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4246.1ms, max=4246.1ms
-  task_sampling: mean=608.0ms, total=1.22s, count=2, min=428.2ms, max=787.9ms
-  task_specific_sample: mean=604.3ms, total=1.21s, count=2, min=425.1ms, max=783.6ms
-  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms
-  mj_forward_sync: mean=493.6us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:45:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:45:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:45:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:45:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:45:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:45:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:45:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:45:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:45:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:45:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:45:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.032m, effective arm-mount z=0.828m (base_body_z=-0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031589m	[env.py: 870]
-05/10 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:45:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.08498859  1.07786613 -0.03158904] yaw=-135.3deg	[env.py: 1019]
-05/10 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83371072  0.40408231 -0.03158904] yaw=163.5deg	[env.py: 1019]
-05/10 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.00482238  0.8004954  -0.03158904] yaw=-163.6deg	[env.py: 1019]
-05/10 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:45:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=248.1ms, total=248.1ms	[env.py: 1075]
-05/10 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.085, 1.078, -0.032)	[env.py: 1079]
-05/10 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.3 deg	[env.py: 1082]
-05/10 05:45:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
-05/10 05:45:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:45:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:45:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:45:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:45:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:45:59 INFO: [Worker 0] Worker 0 house 1 episode 62/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:45:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:45:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:45:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:45:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:46:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.679s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:46:03 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.442[m] 93.350[deg]	[grasp_sample.py: 539]
-05/10 05:46:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:46:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:46:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:46:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:46:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:46:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.73s (batch: 4.69s, save: 10.04s)	[pipeline.py: 300]
-05/10 05:46:05 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.55s:
-  episode_total: mean=210.62s, total=210.62s, count=1, min=210623.8ms, max=210623.8ms
-  sensor_polling: mean=494.7ms, total=143.97s, count=291, min=414.0ms, max=1012.4ms
-  save_trajectories: mean=10.04s, total=10.04s, count=1, min=10041.7ms, max=10041.7ms
-  physics_step: mean=24.0ms, total=6.99s, count=291, min=17.1ms, max=104.2ms
-  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4688.7ms, max=4688.7ms
-  task_sampling: mean=549.6ms, total=549.6ms, count=1, min=549.6ms, max=549.6ms
-  task_specific_sample: mean=536.0ms, total=536.0ms, count=1, min=536.0ms, max=536.0ms
-  scene_randomize: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
-  mj_forward_sync: mean=576.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:46:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:46:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:46:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:46:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:46:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:46:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:46:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:46:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:46:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:46:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:46:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035855m	[env.py: 870]
-05/10 05:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:46:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86851841  1.19556827  0.03585518] yaw=-131.4deg	[env.py: 1019]
-05/10 05:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93854573  1.25411623  0.03585518] yaw=-145.9deg	[env.py: 1019]
-05/10 05:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89206541  0.71853683  0.03585518] yaw=-175.1deg	[env.py: 1019]
-05/10 05:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:46:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.9ms, total=179.9ms	[env.py: 1075]
-05/10 05:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 1.196, 0.036)	[env.py: 1079]
-05/10 05:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.4 deg	[env.py: 1082]
-05/10 05:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m	[env.py: 1086]
-05/10 05:46:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:46:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:46:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:46:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:46:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:46:07 INFO: [Worker 0] Worker 0 house 1 episode 59/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:46:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:46:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:46:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:46:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:46:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.500s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 05:46:09 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 05:46:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:46:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:46:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:46:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:46:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:46:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:46:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:46:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:46:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014714m	[env.py: 870]
-05/10 05:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:46:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04655649  0.91447461  0.01471424] yaw=-154.5deg	[env.py: 1019]
-05/10 05:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03342417  0.11936714  0.01471424] yaw=149.9deg	[env.py: 1019]
-05/10 05:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93524234  0.81371188  0.01471424] yaw=-146.1deg	[env.py: 1019]
-05/10 05:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:46:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=159.7ms, total=159.8ms	[env.py: 1075]
-05/10 05:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.047, 0.914, 0.015)	[env.py: 1079]
-05/10 05:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.5 deg	[env.py: 1082]
-05/10 05:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
-05/10 05:46:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:46:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:46:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:46:11 INFO: [Worker 0] Worker 0 house 1 episode 60/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:46:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:46:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:46:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:46:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:46:11 INFO: [Worker 0] Saved videos eagerly for episode 41 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:46:11 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 05:46:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:46:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.515s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:46:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.369[m] 91.262[deg]	[grasp_sample.py: 539]
-05/10 05:46:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:46:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:46:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:46:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:46:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:46:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.42s (batch: 4.40s, save: 9.01s)	[pipeline.py: 300]
-05/10 05:46:25 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=1.66s:
-  episode_total: mean=174.28s, total=348.57s, count=2, min=147420.8ms, max=201148.5ms
-  sensor_polling: mean=473.1ms, total=266.33s, count=563, min=398.5ms, max=1084.3ms
-  physics_step: mean=22.2ms, total=12.52s, count=563, min=16.7ms, max=53.4ms
-  save_trajectories: mean=9.01s, total=9.01s, count=1, min=9014.3ms, max=9014.3ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4401.9ms, max=4401.9ms
-  task_sampling: mean=831.3ms, total=1.66s, count=2, min=493.7ms, max=1168.9ms
-  task_specific_sample: mean=827.3ms, total=1.65s, count=2, min=489.5ms, max=1165.2ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.5ms, max=2.7ms
-  mj_forward_sync: mean=518.3us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=17.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:46:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:46:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:46:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:46:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:46:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:46:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:46:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:46:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:46:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:46:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:46:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008787m	[env.py: 870]
-05/10 05:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:46:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85801937  0.03833285  0.00878688] yaw=141.4deg	[env.py: 1019]
-05/10 05:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04444963  1.24348773  0.00878688] yaw=-136.6deg	[env.py: 1019]
-05/10 05:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0685469   0.81534332  0.00878688] yaw=-157.1deg	[env.py: 1019]
-05/10 05:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:46:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=410.0ms, total=410.1ms	[env.py: 1075]
-05/10 05:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.858, 0.038, 0.009)	[env.py: 1079]
-05/10 05:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 141.4 deg	[env.py: 1082]
-05/10 05:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
-05/10 05:46:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:46:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:46:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:46:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:46:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:46:28 INFO: [Worker 0] Worker 0 house 1 episode 62/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:46:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.158s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:46:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:46:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:46:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:46:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.722s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:46:30 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.543[m] 98.753[deg]	[grasp_sample.py: 539]
-05/10 05:46:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:46:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:46:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:46:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:46:47 INFO: [Worker 0] Worker 0 house 1 episode 59 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:46:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:46:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:46:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:47:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:47:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:47:09 INFO: [Worker 0] Saved videos eagerly for episode 41 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:47:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 05:47:09 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/10 05:47:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:47:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:47:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.57s (batch: 3.96s, save: 8.62s)	[pipeline.py: 300]
-05/10 05:47:23 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.57s:
-  episode_total: mean=188.26s, total=188.26s, count=1, min=188260.8ms, max=188260.8ms
-  sensor_polling: mean=480.4ms, total=140.28s, count=292, min=391.0ms, max=753.3ms
-  save_trajectories: mean=8.62s, total=8.62s, count=1, min=8615.2ms, max=8615.2ms
-  physics_step: mean=24.7ms, total=7.20s, count=292, min=15.5ms, max=64.9ms
-  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3955.0ms, max=3955.0ms
-  task_sampling: mean=567.5ms, total=567.5ms, count=1, min=567.5ms, max=567.5ms
-  task_specific_sample: mean=563.0ms, total=563.0ms, count=1, min=563.0ms, max=563.0ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=557.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:47:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:47:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:47:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:47:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:47:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:47:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:47:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:47:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:47:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035701m	[env.py: 870]
-05/10 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:47:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81508043  0.63456101 -0.03570069] yaw=-180.3deg	[env.py: 1019]
-05/10 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87433758  0.83780275 -0.03570069] yaw=-151.1deg	[env.py: 1019]
-05/10 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93492299  0.13176954 -0.03570069] yaw=146.6deg	[env.py: 1019]
-05/10 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:47:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.1ms, total=113.1ms	[env.py: 1075]
-05/10 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.635, -0.036)	[env.py: 1079]
-05/10 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.3 deg	[env.py: 1082]
-05/10 05:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
-05/10 05:47:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:47:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:47:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:47:25 INFO: [Worker 0] Worker 0 house 1 episode 60/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:47:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:47:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:47:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:47:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:47:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:47:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.464s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:47:25 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.473[m] 93.016[deg]	[grasp_sample.py: 539]
-05/10 05:47:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:47:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:47:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:47:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:47:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:48:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:48:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:48:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:48:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:48:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:48:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:48:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:48:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:48:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:48:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:48:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:48:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:48:31 INFO: [Worker 0] Feasibility-checked 78 grasps in 3.342s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:48:31 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.057[m] 10.176[deg]	[grasp_sample.py: 539]
-05/10 05:48:34 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 05:48:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:48:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:48:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:48:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:48:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:48:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:48:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:48:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:48:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.000m, effective arm-mount z=0.860m (base_body_z=-0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000385m	[env.py: 870]
-05/10 05:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:48:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-9.77890568e-01  8.07741871e-01 -3.84745548e-04] yaw=-154.9deg	[env.py: 1019]
-05/10 05:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-6.89473114e-01  4.46284083e-01 -3.84745548e-04] yaw=186.6deg	[env.py: 1019]
-05/10 05:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-6.33476385e-01  4.92039735e-01 -3.84745548e-04] yaw=-171.7deg	[env.py: 1019]
-05/10 05:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:48:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=373.3ms, total=373.3ms	[env.py: 1075]
-05/10 05:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.978, 0.808, -0.000)	[env.py: 1079]
-05/10 05:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.9 deg	[env.py: 1082]
-05/10 05:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.794m	[env.py: 1086]
-05/10 05:48:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:48:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:48:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:48:37 INFO: [Worker 0] Worker 0 house 1 episode 63/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:48:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:48:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:48:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:48:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:48:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.077s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:48:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.326[m] 76.582[deg]	[grasp_sample.py: 539]
-05/10 05:48:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:48:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:48:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:48:42 INFO: [Worker 0] Worker 0 house 1 episode 60 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:49:02 INFO: [Worker 0] Worker 0 house 1 episode 62 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:49:03 INFO: [Worker 0] Saved videos eagerly for episode 45 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:49:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 05:49:03 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
-05/10 05:49:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:49:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:49:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:49:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.89s (batch: 4.00s, save: 9.89s)	[pipeline.py: 300]
-05/10 05:49:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:49:17 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=True episode_total=0.83s:
-  episode_total: mean=94.58s, total=189.16s, count=2, min=2072.6ms, max=187084.4ms
-  sensor_polling: mean=477.5ms, total=140.37s, count=294, min=403.3ms, max=763.7ms
-  save_trajectories: mean=9.89s, total=9.89s, count=1, min=9888.4ms, max=9888.4ms
-  physics_step: mean=22.6ms, total=6.65s, count=294, min=16.7ms, max=69.3ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3999.4ms, max=3999.4ms
-  task_sampling: mean=417.3ms, total=834.6ms, count=2, min=386.2ms, max=448.4ms
-  task_specific_sample: mean=414.1ms, total=828.1ms, count=2, min=383.3ms, max=444.8ms
-  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.2ms, max=2.2ms
-  mj_forward_sync: mean=472.6us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:49:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:49:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:49:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:49:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:49:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:49:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:49:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:49:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:49:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002483m	[env.py: 870]
-05/10 05:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:49:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84418386  0.0400391   0.00248261] yaw=163.3deg	[env.py: 1019]
-05/10 05:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90204468  0.87774467  0.00248261] yaw=-163.9deg	[env.py: 1019]
-05/10 05:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96297521  0.85247947  0.00248261] yaw=-161.7deg	[env.py: 1019]
-05/10 05:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:49:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.0ms, total=107.0ms	[env.py: 1075]
-05/10 05:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.844, 0.040, 0.002)	[env.py: 1079]
-05/10 05:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.3 deg	[env.py: 1082]
-05/10 05:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m	[env.py: 1086]
-05/10 05:49:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:49:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:49:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:49:19 INFO: [Worker 0] Worker 0 house 1 episode 61/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:49:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:49:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:49:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:49:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:49:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:49:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.565s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:49:22 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.506[m] 79.643[deg]	[grasp_sample.py: 539]
-05/10 05:49:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:49:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:49:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:49:27 INFO: [Worker 0] Saved videos eagerly for episode 42 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:49:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 05:49:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:49:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:49:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:49:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.37s (batch: 5.32s, save: 12.05s)	[pipeline.py: 300]
-05/10 05:49:45 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=True episode_total=0.72s:
-  episode_total: mean=197.73s, total=197.73s, count=1, min=197732.3ms, max=197732.3ms
-  sensor_polling: mean=472.3ms, total=141.68s, count=300, min=401.4ms, max=739.8ms
-  save_trajectories: mean=12.05s, total=12.05s, count=1, min=12051.9ms, max=12051.9ms
-  physics_step: mean=22.4ms, total=6.71s, count=300, min=16.6ms, max=51.4ms
-  save_batch_prep: mean=5.32s, total=5.32s, count=1, min=5317.1ms, max=5317.1ms
-  task_sampling: mean=716.1ms, total=716.1ms, count=1, min=716.1ms, max=716.1ms
-  task_specific_sample: mean=711.9ms, total=711.9ms, count=1, min=711.9ms, max=711.9ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=460.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:49:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:49:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:49:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:49:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:49:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:49:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:49:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:49:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:49:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024622m	[env.py: 870]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:49:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92436947  0.19032459  0.02462243] yaw=164.7deg	[env.py: 1019]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86540026  0.9224675   0.02462243] yaw=-151.1deg	[env.py: 1019]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03815382  1.1242504   0.02462243] yaw=-125.8deg	[env.py: 1019]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:49:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.2ms, total=149.3ms	[env.py: 1075]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.924, 0.190, 0.025)	[env.py: 1079]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.7 deg	[env.py: 1082]
-05/10 05:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
-05/10 05:49:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:49:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:49:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:49:47 INFO: [Worker 0] Worker 0 house 1 episode 63/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:49:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:49:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:49:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:49:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.142s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:49:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.733s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:49:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.386[m] 84.785[deg]	[grasp_sample.py: 539]
-05/10 05:49:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:49:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:49:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:50:00 INFO: [Worker 0] Worker 0 house 1 episode 60 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:50:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:50:23 INFO: [Worker 0] Saved videos eagerly for episode 42 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:50:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 05:50:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:50:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:50:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:50:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:50:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:50:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:50:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:50:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.15s (batch: 4.23s, save: 11.91s)	[pipeline.py: 300]
-05/10 05:50:39 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=True episode_total=0.45s:
-  episode_total: mean=195.23s, total=195.23s, count=1, min=195231.6ms, max=195231.6ms
-  sensor_polling: mean=479.5ms, total=143.84s, count=300, min=401.2ms, max=694.6ms
-  save_trajectories: mean=11.91s, total=11.91s, count=1, min=11912.1ms, max=11912.1ms
-  physics_step: mean=23.9ms, total=7.18s, count=300, min=17.0ms, max=64.6ms
-  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4234.6ms, max=4234.6ms
-  task_sampling: mean=449.0ms, total=449.0ms, count=1, min=449.0ms, max=449.0ms
-  task_specific_sample: mean=445.9ms, total=445.9ms, count=1, min=445.9ms, max=445.9ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=364.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:50:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:50:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:50:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:50:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:50:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:50:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:50:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:50:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:50:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:50:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:50:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014753m	[env.py: 870]
-05/10 05:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:50:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96360975  0.69633914  0.01475331] yaw=-174.4deg	[env.py: 1019]
-05/10 05:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:50:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=336.5ms, total=336.6ms	[env.py: 1075]
-05/10 05:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.964, 0.696, 0.015)	[env.py: 1079]
-05/10 05:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.4 deg	[env.py: 1082]
-05/10 05:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.769m	[env.py: 1086]
-05/10 05:50:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:50:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:50:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:50:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:50:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:50:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:50:42 INFO: [Worker 0] Worker 0 house 1 episode 61/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:50:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:50:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:50:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:50:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:50:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.465s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:50:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.313[m] 86.116[deg]	[grasp_sample.py: 539]
-05/10 05:50:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:50:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:50:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:51:03 INFO: [Worker 0] Worker 0 house 1 episode 63 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:51:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:51:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:51:23 INFO: [Worker 0] Saved videos eagerly for episode 43 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:51:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 05:51:23 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
-05/10 05:51:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:51:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:51:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:51:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:51:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:51:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:51:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.50s (batch: 4.17s, save: 10.33s)	[pipeline.py: 300]
-05/10 05:51:38 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=1.17s:
-  episode_total: mean=168.85s, total=337.70s, count=2, min=155520.7ms, max=182175.1ms
-  sensor_polling: mean=468.4ms, total=262.31s, count=560, min=387.7ms, max=806.5ms
-  physics_step: mean=21.7ms, total=12.15s, count=560, min=13.4ms, max=59.7ms
-  save_trajectories: mean=10.33s, total=10.33s, count=1, min=10330.4ms, max=10330.4ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4168.2ms, max=4168.2ms
-  task_sampling: mean=584.9ms, total=1.17s, count=2, min=538.4ms, max=631.3ms
-  task_specific_sample: mean=580.8ms, total=1.16s, count=2, min=533.6ms, max=628.1ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.3ms, max=3.1ms
-  mj_forward_sync: mean=562.7us, total=1.1ms, count=2, min=0.5ms, max=0.7ms
-  policy_setup: mean=21.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:51:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:51:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:51:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:51:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:51:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:51:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:51:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:51:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:51:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:51:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:51:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014133m	[env.py: 870]
-05/10 05:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:51:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73496419  0.44334075 -0.01413255] yaw=177.9deg	[env.py: 1019]
-05/10 05:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:51:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.6ms, total=196.6ms	[env.py: 1075]
-05/10 05:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.735, 0.443, -0.014)	[env.py: 1079]
-05/10 05:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.9 deg	[env.py: 1082]
-05/10 05:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
-05/10 05:51:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:51:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:51:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:51:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:51:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:51:40 INFO: [Worker 0] Worker 0 house 1 episode 64/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:51:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:51:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:51:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:51:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:51:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.513s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:51:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.523[m] 89.338[deg]	[grasp_sample.py: 539]
-05/10 05:51:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:51:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:51:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:51:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:51:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:51:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:51:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:51:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:51:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:51:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:51:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:51:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:51:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:51:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:51:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:51:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:51:59 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.382s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:51:59 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.267[deg]	[grasp_sample.py: 539]
-05/10 05:52:00 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 05:52:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:52:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:52:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:52:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:52:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:52:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:52:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:52:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:52:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044168m	[env.py: 870]
-05/10 05:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:52:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99646599  0.43120995  0.04416811] yaw=183.8deg	[env.py: 1019]
-05/10 05:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65573572  0.45420059  0.04416811] yaw=182.9deg	[env.py: 1019]
-05/10 05:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97731403  0.15782352  0.04416811] yaw=156.3deg	[env.py: 1019]
-05/10 05:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:52:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=330.7ms, total=330.7ms	[env.py: 1075]
-05/10 05:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.431, 0.044)	[env.py: 1079]
-05/10 05:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.8 deg	[env.py: 1082]
-05/10 05:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.708m	[env.py: 1086]
-05/10 05:52:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:52:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:52:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:52:02 INFO: [Worker 0] Worker 0 house 1 episode 64/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:52:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:52:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:52:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:52:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:52:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.964s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:52:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.280[m] 91.506[deg]	[grasp_sample.py: 539]
-05/10 05:52:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:52:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:52:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:52:06 INFO: [Worker 0] Worker 0 house 1 episode 61 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:52:28 INFO: [Worker 0] Saved videos eagerly for episode 46 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:52:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 05:52:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:52:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:52:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:52:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:52:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:52:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:52:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.00s (batch: 4.01s, save: 7.99s)	[pipeline.py: 300]
-05/10 05:52:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:52:41 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=0.36s:
-  episode_total: mean=202.12s, total=202.12s, count=1, min=202122.7ms, max=202122.7ms
-  sensor_polling: mean=486.7ms, total=146.02s, count=300, min=400.3ms, max=852.6ms
-  save_trajectories: mean=7.99s, total=7.99s, count=1, min=7991.8ms, max=7991.8ms
-  physics_step: mean=24.3ms, total=7.28s, count=300, min=15.5ms, max=76.9ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4005.3ms, max=4005.3ms
-  task_sampling: mean=359.2ms, total=359.2ms, count=1, min=359.2ms, max=359.2ms
-  task_specific_sample: mean=355.9ms, total=355.9ms, count=1, min=355.9ms, max=355.9ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=386.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:52:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:52:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:52:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:52:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:52:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:52:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:52:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:52:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:52:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:52:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:52:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:52:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015071m	[env.py: 870]
-05/10 05:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:52:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00939224  0.9772252   0.01507109] yaw=-144.5deg	[env.py: 1019]
-05/10 05:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04606992  1.27688145  0.01507109] yaw=-123.0deg	[env.py: 1019]
-05/10 05:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.80716181  0.51311118  0.01507109] yaw=-182.2deg	[env.py: 1019]
-05/10 05:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:52:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=387.7ms, total=387.8ms	[env.py: 1075]
-05/10 05:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.009, 0.977, 0.015)	[env.py: 1079]
-05/10 05:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.5 deg	[env.py: 1082]
-05/10 05:52:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m	[env.py: 1086]
-05/10 05:52:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:52:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:52:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:52:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:52:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:52:43 INFO: [Worker 0] Worker 0 house 1 episode 62/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:52:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:52:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:52:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:52:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:52:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.539s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:52:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.449[m] 96.080[deg]	[grasp_sample.py: 539]
-05/10 05:52:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:52:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:52:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:52:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:53:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:53:04 INFO: [Worker 0] Worker 0 house 1 episode 61 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:53:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:53:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:53:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:53:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:53:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:53:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:53:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:53:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:53:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:53:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:53:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:53:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:53:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.411s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:53:15 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.522[deg]	[grasp_sample.py: 539]
-05/10 05:53:17 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 05:53:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:53:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:53:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:53:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:53:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:53:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:53:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:53:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:53:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:53:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:53:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048180m	[env.py: 870]
-05/10 05:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:53:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98655459  1.21394238 -0.04817955] yaw=-139.8deg	[env.py: 1019]
-05/10 05:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67436265  0.74470935 -0.04817955] yaw=-168.6deg	[env.py: 1019]
-05/10 05:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93157709  0.50943182 -0.04817955] yaw=-179.0deg	[env.py: 1019]
-05/10 05:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:53:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=372.1ms, total=372.1ms	[env.py: 1075]
-05/10 05:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.987, 1.214, -0.048)	[env.py: 1079]
-05/10 05:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.8 deg	[env.py: 1082]
-05/10 05:53:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m	[env.py: 1086]
-05/10 05:53:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:53:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:53:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:53:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:53:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:53:19 INFO: [Worker 0] Worker 0 house 1 episode 65/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:53:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:53:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:53:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:53:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:53:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.883s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:53:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.649[m] 95.195[deg]	[grasp_sample.py: 539]
-05/10 05:53:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:53:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:53:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:53:26 INFO: [Worker 0] Saved videos eagerly for episode 43 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:53:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 05:53:26 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
-05/10 05:53:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:53:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:53:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:53:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:53:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.91s (batch: 4.07s, save: 8.84s)	[pipeline.py: 300]
-05/10 05:53:40 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=0.60s:
-  episode_total: mean=178.86s, total=178.86s, count=1, min=178860.2ms, max=178860.2ms
-  sensor_polling: mean=467.2ms, total=131.76s, count=282, min=407.2ms, max=1050.2ms
-  save_trajectories: mean=8.84s, total=8.84s, count=1, min=8838.0ms, max=8838.0ms
-  physics_step: mean=23.3ms, total=6.56s, count=282, min=14.9ms, max=53.1ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4067.3ms, max=4067.3ms
-  task_sampling: mean=597.2ms, total=597.2ms, count=1, min=597.2ms, max=597.2ms
-  task_specific_sample: mean=593.7ms, total=593.7ms, count=1, min=593.7ms, max=593.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=392.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:53:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:53:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:53:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:53:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:53:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:53:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:53:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:53:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:53:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023495m	[env.py: 870]
-05/10 05:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:53:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97397018  0.64034365 -0.02349528] yaw=-178.9deg	[env.py: 1019]
-05/10 05:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04317477  1.12040304 -0.02349528] yaw=-142.4deg	[env.py: 1019]
-05/10 05:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8616581   0.37452374 -0.02349528] yaw=171.1deg	[env.py: 1019]
-05/10 05:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:53:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=74.5ms, total=74.6ms	[env.py: 1075]
-05/10 05:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.974, 0.640, -0.023)	[env.py: 1079]
-05/10 05:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.9 deg	[env.py: 1082]
-05/10 05:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.745m	[env.py: 1086]
-05/10 05:53:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:53:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:53:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:53:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:53:42 INFO: [Worker 0] Worker 0 house 1 episode 62/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:53:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:53:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:53:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:53:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:53:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:53:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.435s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:53:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.298[m] 83.231[deg]	[grasp_sample.py: 539]
-05/10 05:53:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:53:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:53:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:54:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:54:13 INFO: [Worker 0] Worker 0 house 1 episode 64 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:54:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:54:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:54:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:54:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:54:34 INFO: [Worker 0] Saved videos eagerly for episode 44 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:54:34 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 05:54:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:54:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:54:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:54:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:54:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.88s (batch: 4.55s, save: 10.32s)	[pipeline.py: 300]
-05/10 05:54:50 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=0.47s:
-  episode_total: mean=190.48s, total=190.48s, count=1, min=190476.1ms, max=190476.1ms
-  sensor_polling: mean=471.7ms, total=141.52s, count=300, min=399.4ms, max=830.1ms
-  save_trajectories: mean=10.32s, total=10.32s, count=1, min=10323.2ms, max=10323.2ms
-  physics_step: mean=23.4ms, total=7.02s, count=300, min=16.5ms, max=59.6ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4554.9ms, max=4554.9ms
-  task_sampling: mean=465.2ms, total=465.2ms, count=1, min=465.2ms, max=465.2ms
-  task_specific_sample: mean=462.1ms, total=462.1ms, count=1, min=462.1ms, max=462.1ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=369.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:54:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:54:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:54:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:54:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:54:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:54:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:54:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:54:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:54:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:54:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:54:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049604m	[env.py: 870]
-05/10 05:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:54:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7829864   0.83859788  0.04960391] yaw=-151.7deg	[env.py: 1019]
-05/10 05:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03609467  0.86335792  0.04960391] yaw=-144.0deg	[env.py: 1019]
-05/10 05:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96768054  0.62182664  0.04960391] yaw=-160.4deg	[env.py: 1019]
-05/10 05:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:54:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.8ms, total=154.9ms	[env.py: 1075]
-05/10 05:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.783, 0.839, 0.050)	[env.py: 1079]
-05/10 05:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.7 deg	[env.py: 1082]
-05/10 05:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
-05/10 05:54:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:54:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:54:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:54:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:54:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:54:53 INFO: [Worker 0] Worker 0 house 1 episode 65/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:54:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:54:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:54:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:54:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:54:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.329s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:54:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.566[m] 91.049[deg]	[grasp_sample.py: 539]
-05/10 05:54:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:54:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:54:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:55:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:55:15 INFO: [Worker 0] Worker 0 house 1 episode 62 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:55:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:55:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:55:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:55:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:55:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:55:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:55:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:55:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:55:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:55:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:55:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:55:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:55:31 INFO: [Worker 0] Feasibility-checked 78 grasps in 3.088s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 05:55:31 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 05:55:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:55:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:55:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:55:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:55:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:55:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:55:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:55:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:55:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042032m	[env.py: 870]
-05/10 05:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:55:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84921083  0.28785396  0.04203242] yaw=175.5deg	[env.py: 1019]
-05/10 05:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97921185  1.14333822  0.04203242] yaw=-148.6deg	[env.py: 1019]
-05/10 05:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.84154989  0.56000425  0.04203242] yaw=-163.9deg	[env.py: 1019]
-05/10 05:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:55:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=353.2ms, total=353.3ms	[env.py: 1075]
-05/10 05:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.849, 0.288, 0.042)	[env.py: 1079]
-05/10 05:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.5 deg	[env.py: 1082]
-05/10 05:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
-05/10 05:55:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:55:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:55:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:55:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:55:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:55:34 INFO: [Worker 0] Worker 0 house 1 episode 66/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:55:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:55:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:55:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:55:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:55:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.749s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:55:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.492[m] 100.620[deg]	[grasp_sample.py: 539]
-05/10 05:55:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:55:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:55:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:55:41 INFO: [Worker 0] Saved videos eagerly for episode 47 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:55:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 05:55:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:55:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:55:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:55:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:55:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.82s (batch: 3.98s, save: 10.84s)	[pipeline.py: 300]
-05/10 05:55:57 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=True episode_total=0.68s:
-  episode_total: mean=194.14s, total=194.14s, count=1, min=194135.1ms, max=194135.1ms
-  sensor_polling: mean=468.0ms, total=140.39s, count=300, min=397.0ms, max=904.5ms
-  save_trajectories: mean=10.84s, total=10.84s, count=1, min=10841.2ms, max=10841.2ms
-  physics_step: mean=22.1ms, total=6.64s, count=300, min=14.0ms, max=47.5ms
-  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3976.3ms, max=3976.3ms
-  task_sampling: mean=679.5ms, total=679.5ms, count=1, min=679.5ms, max=679.5ms
-  task_specific_sample: mean=672.3ms, total=672.3ms, count=1, min=672.3ms, max=672.3ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=392.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:55:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:55:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:55:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:55:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:55:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:55:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:55:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:55:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:55:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048349m	[env.py: 870]
-05/10 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:55:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9609528   0.36381457 -0.04834926] yaw=174.7deg	[env.py: 1019]
-05/10 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9608676   0.68694581 -0.04834926] yaw=-153.7deg	[env.py: 1019]
-05/10 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.7776134   0.2327644  -0.04834926] yaw=158.1deg	[env.py: 1019]
-05/10 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:55:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.2ms, total=151.2ms	[env.py: 1075]
-05/10 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.961, 0.364, -0.048)	[env.py: 1079]
-05/10 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg	[env.py: 1082]
-05/10 05:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m	[env.py: 1086]
-05/10 05:55:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:55:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:55:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:55:59 INFO: [Worker 0] Worker 0 house 1 episode 63/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:55:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:55:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:55:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:55:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:56:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.460s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:56:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.317[m] 89.277[deg]	[grasp_sample.py: 539]
-05/10 05:56:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:56:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:56:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:56:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:56:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:56:11 INFO: [Worker 0] Worker 0 house 1 episode 62 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:56:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:56:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:56:32 INFO: [Worker 0] Saved videos eagerly for episode 44 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:56:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 05:56:32 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
-05/10 05:56:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:56:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:56:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:56:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:56:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:56:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.42s (batch: 3.83s, save: 8.59s)	[pipeline.py: 300]
-05/10 05:56:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:56:45 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=True episode_total=0.36s:
-  episode_total: mean=183.67s, total=183.67s, count=1, min=183668.7ms, max=183668.7ms
-  sensor_polling: mean=488.7ms, total=136.34s, count=279, min=413.4ms, max=816.4ms
-  save_trajectories: mean=8.59s, total=8.59s, count=1, min=8590.5ms, max=8590.5ms
-  physics_step: mean=25.0ms, total=6.98s, count=279, min=14.1ms, max=47.4ms
-  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3833.8ms, max=3833.8ms
-  task_sampling: mean=360.8ms, total=360.8ms, count=1, min=360.8ms, max=360.8ms
-  task_specific_sample: mean=357.4ms, total=357.4ms, count=1, min=357.4ms, max=357.4ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=369.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:56:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:56:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:56:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:56:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:56:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:56:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:56:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:56:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:56:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025388m	[env.py: 870]
-05/10 05:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:56:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78560681  0.51468149 -0.02538842] yaw=-183.7deg	[env.py: 1019]
-05/10 05:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.67749728  0.10203226 -0.02538842] yaw=166.8deg	[env.py: 1019]
-05/10 05:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:56:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.4ms, total=149.4ms	[env.py: 1075]
-05/10 05:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.515, -0.025)	[env.py: 1079]
-05/10 05:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.7 deg	[env.py: 1082]
-05/10 05:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
-05/10 05:56:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:56:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:56:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:56:47 INFO: [Worker 0] Worker 0 house 1 episode 63/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:56:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:56:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:56:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:56:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:56:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.404s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:56:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.480[m] 89.921[deg]	[grasp_sample.py: 539]
-05/10 05:56:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:56:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:56:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:57:24 INFO: [Worker 0] Worker 0 house 1 episode 65 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:57:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:57:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:57:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:57:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:57:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:57:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:57:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:57:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:57:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:57:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:57:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:57:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:57:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:57:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:57:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:57:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:57:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:57:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:57:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:57:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:57:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:57:45 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.461s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:57:45 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.426[deg]	[grasp_sample.py: 539]
-05/10 05:57:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:57:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:57:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:57:45 INFO: [Worker 0] Saved videos eagerly for episode 45 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:57:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 05:57:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:57:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:57:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:57:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 05:57:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 05:57:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 05:57:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:57:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:57:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:57:49 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.904s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:57:49 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.677[deg]	[grasp_sample.py: 539]
-05/10 05:57:51 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 05:57:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:57:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:57:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:57:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:57:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:57:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:57:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:57:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:57:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:57:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:57:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022119m	[env.py: 870]
-05/10 05:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:57:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00017082  0.87191926  0.02211929] yaw=-143.5deg	[env.py: 1019]
-05/10 05:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04486482  1.13792366  0.02211929] yaw=-143.3deg	[env.py: 1019]
-05/10 05:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78582157  1.03951747  0.02211929] yaw=-156.0deg	[env.py: 1019]
-05/10 05:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:57:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.2ms, total=208.3ms	[env.py: 1075]
-05/10 05:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.000, 0.872, 0.022)	[env.py: 1079]
-05/10 05:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.5 deg	[env.py: 1082]
-05/10 05:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
-05/10 05:57:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:57:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:57:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:57:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:57:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:57:53 INFO: [Worker 0] Worker 0 house 1 episode 64/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:57:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:57:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:57:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:57:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:57:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.370s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:57:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.417[m] 96.661[deg]	[grasp_sample.py: 539]
-05/10 05:57:57 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 05:57:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:57:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:57:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:57:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:57:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:57:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:57:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:57:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:57:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:57:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013182m	[env.py: 870]
-05/10 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:57:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74710931  0.02382536 -0.01318161] yaw=165.4deg	[env.py: 1019]
-05/10 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05115293  0.91898232 -0.01318161] yaw=-138.1deg	[env.py: 1019]
-05/10 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68475425  0.47713137 -0.01318161] yaw=178.1deg	[env.py: 1019]
-05/10 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:57:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.5ms, total=199.5ms	[env.py: 1075]
-05/10 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.024, -0.013)	[env.py: 1079]
-05/10 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg	[env.py: 1082]
-05/10 05:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
-05/10 05:57:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:57:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:57:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:57:59 INFO: [Worker 0] Worker 0 house 1 episode 65/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:57:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:57:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:57:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:57:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:58:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:58:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:58:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.06s (batch: 5.00s, save: 11.05s)	[pipeline.py: 300]
-05/10 05:58:02 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=0.47s:
-  episode_total: mean=190.09s, total=190.09s, count=1, min=190085.4ms, max=190085.4ms
-  sensor_polling: mean=466.4ms, total=139.91s, count=300, min=398.8ms, max=879.8ms
-  save_trajectories: mean=11.05s, total=11.05s, count=1, min=11054.8ms, max=11054.8ms
-  physics_step: mean=21.2ms, total=6.37s, count=300, min=16.3ms, max=37.7ms
-  save_batch_prep: mean=5.00s, total=5.00s, count=1, min=5002.1ms, max=5002.1ms
-  task_sampling: mean=469.6ms, total=469.6ms, count=1, min=469.6ms, max=469.6ms
-  task_specific_sample: mean=461.7ms, total=461.7ms, count=1, min=461.7ms, max=461.7ms
-  mj_forward_sync: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:58:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.992s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:58:02 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.647[m] 96.338[deg]	[grasp_sample.py: 539]
-05/10 05:58:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:58:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:58:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:58:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:58:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:58:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:58:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:58:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:58:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:58:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:58:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:58:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045898m	[env.py: 870]
-05/10 05:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:58:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81591841  0.58317796  0.04589844] yaw=-170.0deg	[env.py: 1019]
-05/10 05:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06676173  0.9752831   0.04589844] yaw=-144.8deg	[env.py: 1019]
-05/10 05:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.71715113  0.09851339  0.04589844] yaw=158.8deg	[env.py: 1019]
-05/10 05:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:58:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.4ms, total=136.4ms	[env.py: 1075]
-05/10 05:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.816, 0.583, 0.046)	[env.py: 1079]
-05/10 05:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.0 deg	[env.py: 1082]
-05/10 05:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
-05/10 05:58:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:58:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:58:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:58:04 INFO: [Worker 0] Worker 0 house 1 episode 66/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:58:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:58:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:58:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:58:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:58:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:58:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.442[m] 88.739[deg]	[grasp_sample.py: 539]
-05/10 05:58:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:58:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:58:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:58:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:58:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:58:16 INFO: [Worker 0] Worker 0 house 1 episode 66 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:58:43 INFO: [Worker 0] Saved videos eagerly for episode 43 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:58:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 05:58:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:58:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:58:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:58:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:58:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.73s (batch: 4.16s, save: 8.57s)	[pipeline.py: 300]
-05/10 05:58:56 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=2.38s:
-  episode_total: mean=135.94s, total=543.75s, count=4, min=74728.8ms, max=203098.8ms
-  sensor_polling: mean=472.8ms, total=404.68s, count=856, min=389.3ms, max=965.5ms
-  physics_step: mean=21.7ms, total=18.61s, count=856, min=14.7ms, max=84.3ms
-  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8570.8ms, max=8570.8ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4162.6ms, max=4162.6ms
-  task_sampling: mean=595.8ms, total=2.38s, count=4, min=449.3ms, max=709.2ms
-  task_specific_sample: mean=591.9ms, total=2.37s, count=4, min=444.7ms, max=705.4ms
-  scene_randomize: mean=1.9ms, total=7.7ms, count=4, min=1.4ms, max=3.1ms
-  mj_forward_sync: mean=511.3us, total=2.0ms, count=4, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:58:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:58:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:58:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:58:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:58:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:58:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:58:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:58:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:58:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:58:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:58:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010336m	[env.py: 870]
-05/10 05:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:58:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67444635  0.44451745  0.01033552] yaw=185.3deg	[env.py: 1019]
-05/10 05:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76273148  0.0619539   0.01033552] yaw=149.1deg	[env.py: 1019]
-05/10 05:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:58:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=381.4ms, total=381.5ms	[env.py: 1075]
-05/10 05:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.674, 0.445, 0.010)	[env.py: 1079]
-05/10 05:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.3 deg	[env.py: 1082]
-05/10 05:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
-05/10 05:58:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:58:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:58:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:58:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:58:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:58:59 INFO: [Worker 0] Worker 0 house 1 episode 67/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:58:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:58:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:58:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:58:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 05:58:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:59:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.577s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 05:59:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.608[m] 93.747[deg]	[grasp_sample.py: 539]
-05/10 05:59:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 05:59:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 05:59:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:59:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:59:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:59:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 05:59:21 INFO: [Worker 0] Worker 0 house 1 episode 63 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 05:59:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 05:59:45 INFO: [Worker 0] Saved videos eagerly for episode 45 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 05:59:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 05:59:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 05:59:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 05:59:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 05:59:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.63s (batch: 3.92s, save: 7.71s)	[pipeline.py: 300]
-05/10 05:59:57 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=0.43s:
-  episode_total: mean=190.73s, total=190.73s, count=1, min=190727.2ms, max=190727.2ms
-  sensor_polling: mean=476.9ms, total=143.06s, count=300, min=392.0ms, max=861.2ms
-  save_trajectories: mean=7.71s, total=7.71s, count=1, min=7713.7ms, max=7713.7ms
-  physics_step: mean=22.6ms, total=6.77s, count=300, min=14.0ms, max=53.6ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3915.9ms, max=3915.9ms
-  task_sampling: mean=426.7ms, total=426.7ms, count=1, min=426.7ms, max=426.7ms
-  task_specific_sample: mean=423.1ms, total=423.1ms, count=1, min=423.1ms, max=423.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=421.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 05:59:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 05:59:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 05:59:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 05:59:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:59:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:59:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:59:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:59:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 05:59:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 05:59:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 05:59:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 05:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 05:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 05:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015581m	[env.py: 870]
-05/10 05:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 05:59:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 05:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 05:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74620741  0.84591296 -0.0155807 ] yaw=-168.7deg	[env.py: 1019]
-05/10 05:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 05:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 05:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85027594  0.05728927 -0.0155807 ] yaw=159.3deg	[env.py: 1019]
-05/10 05:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 05:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73476048 -0.02453038 -0.0155807 ] yaw=161.9deg	[env.py: 1019]
-05/10 05:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 05:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 05:59:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.5ms, total=112.5ms	[env.py: 1075]
-05/10 05:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.746, 0.846, -0.016)	[env.py: 1079]
-05/10 05:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.7 deg	[env.py: 1082]
-05/10 05:59:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m	[env.py: 1086]
-05/10 05:59:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 05:59:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 05:59:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 05:59:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 05:59:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 05:59:59 INFO: [Worker 0] Worker 0 house 1 episode 64/240 collected=0/40	[pipeline.py: 1044]
-05/10 05:59:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 05:59:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 05:59:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 05:59:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:00:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.542s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:00:01 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.633[m] 89.060[deg]	[grasp_sample.py: 539]
-05/10 06:00:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:00:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:00:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:00:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:00:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:00:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:00:35 INFO: [Worker 0] Worker 0 house 1 episode 65 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:00:35 INFO: [Worker 0] Worker 0 house 1 episode 66 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:00:55 INFO: [Worker 0] Saved videos eagerly for episode 46 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:00:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 06:00:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:00:55 INFO: [Worker 0] Saved videos eagerly for episode 48 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:00:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 06:00:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:00:59 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 06:00:59 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 06:00:59 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=1.47s:
-  episode_total: mean=99.01s, total=297.03s, count=3, min=4193.6ms, max=180567.4ms
-  sensor_polling: mean=473.4ms, total=232.92s, count=492, min=402.0ms, max=896.6ms
-  physics_step: mean=22.3ms, total=10.98s, count=492, min=13.3ms, max=53.3ms
-  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3945.4ms, max=3945.4ms
-  task_sampling: mean=488.7ms, total=1.47s, count=3, min=437.0ms, max=538.8ms
-  task_specific_sample: mean=485.0ms, total=1.46s, count=3, min=433.4ms, max=535.3ms
-  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=450.4us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=15.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:00:59 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=0.39s:
-  episode_total: mean=175.83s, total=175.83s, count=1, min=175834.0ms, max=175834.0ms
-  sensor_polling: mean=469.4ms, total=140.82s, count=300, min=394.8ms, max=962.2ms
-  physics_step: mean=21.2ms, total=6.37s, count=300, min=14.1ms, max=50.5ms
-  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4141.2ms, max=4141.2ms
-  task_sampling: mean=392.3ms, total=392.3ms, count=1, min=392.3ms, max=392.3ms
-  task_specific_sample: mean=389.0ms, total=389.0ms, count=1, min=389.0ms, max=389.0ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=367.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:01:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:01:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:01:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:01:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:01:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:01:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:01:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:01:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:01:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:01:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021523m	[env.py: 870]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:01:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:01:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:01:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:01:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:01:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:01:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:01:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:01:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:01:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:01:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:01:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.032m, effective arm-mount z=0.828m (base_body_z=-0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031544m	[env.py: 870]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:01:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69995422  0.64263837  0.02152349] yaw=-161.4deg	[env.py: 1019]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9850253   0.17698111  0.02152349] yaw=152.0deg	[env.py: 1019]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00004514  0.25452566 -0.03154384] yaw=169.7deg	[env.py: 1019]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:01:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88961906  0.500401   -0.03154384] yaw=-178.0deg	[env.py: 1019]
-05/10 06:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92844023  0.48977978 -0.03154384] yaw=-189.2deg	[env.py: 1019]
-05/10 06:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:01:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=473.5ms, total=473.5ms	[env.py: 1075]
-05/10 06:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.000, 0.255, -0.032)	[env.py: 1079]
-05/10 06:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.7 deg	[env.py: 1082]
-05/10 06:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.738m	[env.py: 1086]
-05/10 06:01:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:01:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:01:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=530.1ms, total=530.1ms	[env.py: 1075]
-05/10 06:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.700, 0.643, 0.022)	[env.py: 1079]
-05/10 06:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.4 deg	[env.py: 1082]
-05/10 06:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m	[env.py: 1086]
-05/10 06:01:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:01:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:01:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:01:02 INFO: [Worker 0] Worker 0 house 1 episode 66/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:01:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:01:02 INFO: [Worker 0] Worker 0 house 1 episode 67/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:01:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:01:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:01:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:01:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:01:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:01:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:01:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:01:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:01:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.037s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:01:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.317[m] 91.334[deg]	[grasp_sample.py: 539]
-05/10 06:01:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:01:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.411s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:01:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.635[m] 99.016[deg]	[grasp_sample.py: 539]
-05/10 06:01:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:01:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:01:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:01:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:01:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:01:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:01:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:01:28 INFO: [Worker 0] Worker 0 house 1 episode 67 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:01:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:01:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:01:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:01:48 INFO: [Worker 0] Saved videos eagerly for episode 44 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:01:48 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 06:01:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:01:52 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 06:01:52 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=0.66s:
-  episode_total: mean=174.03s, total=174.03s, count=1, min=174025.1ms, max=174025.1ms
-  sensor_polling: mean=457.1ms, total=137.13s, count=300, min=389.5ms, max=896.2ms
-  physics_step: mean=20.7ms, total=6.22s, count=300, min=16.7ms, max=54.0ms
-  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3953.2ms, max=3953.2ms
-  task_sampling: mean=656.6ms, total=656.6ms, count=1, min=656.6ms, max=656.6ms
-  task_specific_sample: mean=652.0ms, total=652.0ms, count=1, min=652.0ms, max=652.0ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=558.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:01:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:01:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:01:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:01:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:01:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:01:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:01:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:01:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:01:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006259m	[env.py: 870]
-05/10 06:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:01:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79592279  0.52171313  0.00625902] yaw=-183.5deg	[env.py: 1019]
-05/10 06:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83722986  0.88610147  0.00625902] yaw=-146.4deg	[env.py: 1019]
-05/10 06:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.13607534  0.93442161  0.00625902] yaw=-145.5deg	[env.py: 1019]
-05/10 06:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:01:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.2ms, total=199.2ms	[env.py: 1075]
-05/10 06:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.522, 0.006)	[env.py: 1079]
-05/10 06:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.5 deg	[env.py: 1082]
-05/10 06:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m	[env.py: 1086]
-05/10 06:01:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:01:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:01:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:01:54 INFO: [Worker 0] Worker 0 house 1 episode 68/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:01:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:01:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:01:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:01:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:01:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.443s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:01:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.420[m] 80.738[deg]	[grasp_sample.py: 539]
-05/10 06:01:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:01:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:01:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:02:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:02:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:02:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:02:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:02:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:02:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:02:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:02:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:02:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:02:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:02:23 INFO: [Worker 0] Worker 0 house 1 episode 64 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:02:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:02:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:02:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:02:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:02:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:02:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:02:24 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.404s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:02:24 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.391[deg]	[grasp_sample.py: 539]
-05/10 06:02:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:02:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:02:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:02:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:02:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:02:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:02:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:02:43 INFO: [Worker 0] Saved videos eagerly for episode 46 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:02:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 06:02:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:02:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:02:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:02:47 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 06:02:47 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=0.41s:
-  episode_total: mean=168.00s, total=168.00s, count=1, min=168003.5ms, max=168003.5ms
-  sensor_polling: mean=444.7ms, total=133.40s, count=300, min=384.4ms, max=732.1ms
-  physics_step: mean=20.4ms, total=6.13s, count=300, min=16.6ms, max=53.8ms
-  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4139.1ms, max=4139.1ms
-  task_sampling: mean=412.4ms, total=412.4ms, count=1, min=412.4ms, max=412.4ms
-  task_specific_sample: mean=408.5ms, total=408.5ms, count=1, min=408.5ms, max=408.5ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=388.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:02:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:02:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:02:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:02:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:02:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:02:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:02:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:02:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:02:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:02:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:02:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015778m	[env.py: 870]
-05/10 06:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:02:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78900761  0.65827412  0.01577786] yaw=-157.9deg	[env.py: 1019]
-05/10 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86760135  0.93553723  0.01577786] yaw=-150.2deg	[env.py: 1019]
-05/10 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89977235  1.09931957  0.01577786] yaw=-142.7deg	[env.py: 1019]
-05/10 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:02:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.6ms, total=231.6ms	[env.py: 1075]
-05/10 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.789, 0.658, 0.016)	[env.py: 1079]
-05/10 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.9 deg	[env.py: 1082]
-05/10 06:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m	[env.py: 1086]
-05/10 06:02:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:02:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:02:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:02:49 INFO: [Worker 0] Worker 0 house 1 episode 65/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:02:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:02:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:02:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:02:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:02:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:02:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.534[m] 92.243[deg]	[grasp_sample.py: 539]
-05/10 06:02:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:02:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:02:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:02:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:02:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:02:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:02:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:02:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:03:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:03:23 INFO: [Worker 0] Worker 0 house 1 episode 67 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:03:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:03:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:03:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:03:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:03:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:03:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:03:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:03:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:03:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:03:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:03:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:03:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 70 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:03:34 INFO: [Worker 0] Feasibility-checked 70 grasps in 0.651s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:03:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.055[m] 0.441[deg]	[grasp_sample.py: 539]
-05/10 06:03:35 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 06:03:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:03:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:03:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:03:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:03:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:03:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:03:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:03:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:03:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:03:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:03:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001164m	[env.py: 870]
-05/10 06:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:03:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71376447  0.22771536  0.00116354] yaw=165.6deg	[env.py: 1019]
-05/10 06:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90462793  0.69948927  0.00116354] yaw=-175.0deg	[env.py: 1019]
-05/10 06:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:03:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=167.6ms, total=167.7ms	[env.py: 1075]
-05/10 06:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.228, 0.001)	[env.py: 1079]
-05/10 06:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.6 deg	[env.py: 1082]
-05/10 06:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m	[env.py: 1086]
-05/10 06:03:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:03:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:03:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:03:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:03:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:03:37 INFO: [Worker 0] Worker 0 house 1 episode 67/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:03:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:03:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:03:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:03:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:03:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.461s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:03:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.529[m] 82.627[deg]	[grasp_sample.py: 539]
-05/10 06:03:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:03:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:03:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:03:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:03:43 INFO: [Worker 0] Saved videos eagerly for episode 47 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:03:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 06:03:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:03:48 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 06:03:48 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=0.85s:
-  episode_total: mean=166.59s, total=166.59s, count=1, min=166594.2ms, max=166594.2ms
-  sensor_polling: mean=436.7ms, total=131.02s, count=300, min=407.0ms, max=716.3ms
-  physics_step: mean=19.0ms, total=5.70s, count=300, min=13.6ms, max=46.4ms
-  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4452.0ms, max=4452.0ms
-  task_sampling: mean=851.3ms, total=851.3ms, count=1, min=851.3ms, max=851.3ms
-  task_specific_sample: mean=847.6ms, total=847.6ms, count=1, min=847.6ms, max=847.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=449.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:03:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:03:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:03:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:03:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:03:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:03:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:03:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:03:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:03:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047568m	[env.py: 870]
-05/10 06:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:03:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:03:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74262384  0.10448535  0.04756759] yaw=159.3deg	[env.py: 1019]
-05/10 06:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88423664  0.37518996  0.04756759] yaw=166.1deg	[env.py: 1019]
-05/10 06:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.13051432  0.922597    0.04756759] yaw=-148.7deg	[env.py: 1019]
-05/10 06:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:03:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=537.5ms, total=537.5ms	[env.py: 1075]
-05/10 06:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.104, 0.048)	[env.py: 1079]
-05/10 06:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.3 deg	[env.py: 1082]
-05/10 06:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
-05/10 06:03:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:03:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:03:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:03:50 INFO: [Worker 0] Worker 0 house 1 episode 68/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:03:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:03:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:03:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:03:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:03:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.007s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:03:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.610[m] 100.287[deg]	[grasp_sample.py: 539]
-05/10 06:03:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:03:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:03:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:03:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:04:23 INFO: [Worker 0] Worker 0 house 1 episode 68 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:04:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:04:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:04:43 INFO: [Worker 0] Saved videos eagerly for episode 45 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:04:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 06:04:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:04:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:04:48 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 06:04:48 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=0.52s:
-  episode_total: mean=174.53s, total=174.53s, count=1, min=174533.3ms, max=174533.3ms
-  sensor_polling: mean=458.7ms, total=137.61s, count=300, min=413.4ms, max=905.8ms
-  physics_step: mean=22.2ms, total=6.65s, count=300, min=14.2ms, max=46.9ms
-  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4452.0ms, max=4452.0ms
-  task_sampling: mean=518.0ms, total=518.0ms, count=1, min=518.0ms, max=518.0ms
-  task_specific_sample: mean=514.3ms, total=514.3ms, count=1, min=514.3ms, max=514.3ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=378.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=27.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:04:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:04:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:04:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:04:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:04:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:04:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:04:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:04:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:04:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022260m	[env.py: 870]
-05/10 06:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:04:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85815068  0.92980721  0.0222597 ] yaw=-158.3deg	[env.py: 1019]
-05/10 06:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74815811 -0.01643828  0.0222597 ] yaw=154.4deg	[env.py: 1019]
-05/10 06:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68918551  0.39158836  0.0222597 ] yaw=165.7deg	[env.py: 1019]
-05/10 06:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:04:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.7ms, total=97.7ms	[env.py: 1075]
-05/10 06:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.858, 0.930, 0.022)	[env.py: 1079]
-05/10 06:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.3 deg	[env.py: 1082]
-05/10 06:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m	[env.py: 1086]
-05/10 06:04:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:04:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:04:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:04:50 INFO: [Worker 0] Worker 0 house 1 episode 69/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:04:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:04:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:04:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:04:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:04:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.313s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:04:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.537[m] 83.262[deg]	[grasp_sample.py: 539]
-05/10 06:04:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:04:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:04:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:04:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:05:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:05:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:05:17 INFO: [Worker 0] Worker 0 house 1 episode 65 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:05:38 INFO: [Worker 0] Saved videos eagerly for episode 47 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:05:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 06:05:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:05:42 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 06:05:42 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=0.55s:
-  episode_total: mean=173.32s, total=173.32s, count=1, min=173324.8ms, max=173324.8ms
-  sensor_polling: mean=461.8ms, total=138.54s, count=300, min=408.0ms, max=839.9ms
-  physics_step: mean=21.0ms, total=6.31s, count=300, min=14.3ms, max=47.0ms
-  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3964.8ms, max=3964.8ms
-  task_sampling: mean=551.2ms, total=551.2ms, count=1, min=551.2ms, max=551.2ms
-  task_specific_sample: mean=547.4ms, total=547.4ms, count=1, min=547.4ms, max=547.4ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=419.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:05:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:05:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:05:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:05:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:05:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:05:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:05:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:05:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:05:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:05:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013464m	[env.py: 870]
-05/10 06:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:05:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.923854    0.66993889  0.01346418] yaw=-166.0deg	[env.py: 1019]
-05/10 06:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64507484  0.42094109  0.01346418] yaw=167.3deg	[env.py: 1019]
-05/10 06:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 125.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07709881  1.24440863  0.01346418] yaw=-118.1deg	[env.py: 1019]
-05/10 06:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:05:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.3ms, total=84.4ms	[env.py: 1075]
-05/10 06:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.924, 0.670, 0.013)	[env.py: 1079]
-05/10 06:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.0 deg	[env.py: 1082]
-05/10 06:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
-05/10 06:05:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:05:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:05:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:05:44 INFO: [Worker 0] Worker 0 house 1 episode 66/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:05:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:05:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:05:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:05:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:05:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.614s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:05:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.402[m] 98.568[deg]	[grasp_sample.py: 539]
-05/10 06:05:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:05:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:05:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:05:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:05:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:06:08 INFO: [Worker 0] Worker 0 house 1 episode 67 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:06:20 INFO: [Worker 0] Worker 0 house 1 episode 68 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:06:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:06:28 INFO: [Worker 0] Saved videos eagerly for episode 49 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:06:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 06:06:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:06:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:06:32 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 06:06:32 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=1.14s:
-  episode_total: mean=164.80s, total=329.59s, count=2, min=154141.0ms, max=175453.0ms
-  sensor_polling: mean=459.1ms, total=250.22s, count=545, min=407.5ms, max=981.2ms
-  physics_step: mean=21.6ms, total=11.78s, count=545, min=12.9ms, max=36.4ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4070.0ms, max=4070.0ms
-  task_sampling: mean=569.6ms, total=1.14s, count=2, min=400.7ms, max=738.6ms
-  task_specific_sample: mean=565.9ms, total=1.13s, count=2, min=397.3ms, max=734.6ms
-  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.5ms, max=2.5ms
-  mj_forward_sync: mean=517.3us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=14.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:06:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:06:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:06:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:06:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:06:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:06:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:06:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:06:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:06:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.022658m	[env.py: 870]
-05/10 06:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:06:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95775561  0.39284034 -0.0226577 ] yaw=173.8deg	[env.py: 1019]
-05/10 06:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69888202  0.42943461 -0.0226577 ] yaw=179.2deg	[env.py: 1019]
-05/10 06:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97248737  0.2547756  -0.0226577 ] yaw=165.5deg	[env.py: 1019]
-05/10 06:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:06:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.9ms, total=123.9ms	[env.py: 1075]
-05/10 06:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.393, -0.023)	[env.py: 1079]
-05/10 06:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.8 deg	[env.py: 1082]
-05/10 06:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.750m	[env.py: 1086]
-05/10 06:06:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:06:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:06:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:06:34 INFO: [Worker 0] Worker 0 house 1 episode 68/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:06:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:06:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:06:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:06:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:06:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:06:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.428s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:06:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.265[m] 78.421[deg]	[grasp_sample.py: 539]
-05/10 06:06:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:06:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:06:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:06:39 INFO: [Worker 0] Saved videos eagerly for episode 48 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:06:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 06:06:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:06:43 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 06:06:43 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=0.82s:
-  episode_total: mean=173.58s, total=173.58s, count=1, min=173584.1ms, max=173584.1ms
-  sensor_polling: mean=460.5ms, total=138.14s, count=300, min=410.2ms, max=1015.1ms
-  physics_step: mean=21.4ms, total=6.42s, count=300, min=13.6ms, max=40.8ms
-  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3825.8ms, max=3825.8ms
-  task_sampling: mean=822.7ms, total=822.7ms, count=1, min=822.7ms, max=822.7ms
-  task_specific_sample: mean=818.7ms, total=818.7ms, count=1, min=818.7ms, max=818.7ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=546.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:06:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:06:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:06:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:06:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:06:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:06:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:06:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:06:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:06:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007580m	[env.py: 870]
-05/10 06:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:06:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74610126  0.46462875 -0.00758049] yaw=173.3deg	[env.py: 1019]
-05/10 06:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8469524   0.31432223 -0.00758049] yaw=173.3deg	[env.py: 1019]
-05/10 06:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:06:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.2ms, total=215.3ms	[env.py: 1075]
-05/10 06:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.746, 0.465, -0.008)	[env.py: 1079]
-05/10 06:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.3 deg	[env.py: 1082]
-05/10 06:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m	[env.py: 1086]
-05/10 06:06:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:06:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:06:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:06:45 INFO: [Worker 0] Worker 0 house 1 episode 69/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:06:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:06:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:06:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:06:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:06:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.454s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:06:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.527[m] 94.765[deg]	[grasp_sample.py: 539]
-05/10 06:06:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:06:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:06:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:06:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:07:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:07:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:07:15 INFO: [Worker 0] Worker 0 house 1 episode 69 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:07:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:07:36 INFO: [Worker 0] Saved videos eagerly for episode 46 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:07:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 06:07:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:07:41 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 06:07:41 INFO: [Worker 0] [PROFILE] Episode 69 house 1 success=True episode_total=0.38s:
-  episode_total: mean=171.36s, total=171.36s, count=1, min=171362.0ms, max=171362.0ms
-  sensor_polling: mean=444.4ms, total=133.31s, count=300, min=396.0ms, max=952.5ms
-  physics_step: mean=19.8ms, total=5.94s, count=300, min=16.8ms, max=34.6ms
-  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4642.5ms, max=4642.5ms
-  task_sampling: mean=378.4ms, total=378.4ms, count=1, min=378.4ms, max=378.4ms
-  task_specific_sample: mean=374.8ms, total=374.8ms, count=1, min=374.8ms, max=374.8ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=378.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:07:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:07:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:07:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:07:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:07:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:07:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:07:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:07:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:07:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:07:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:07:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:07:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044173m	[env.py: 870]
-05/10 06:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:07:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89999549  0.93282015  0.04417347] yaw=-156.5deg	[env.py: 1019]
-05/10 06:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 131.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03686774  0.90723178  0.04417347] yaw=-146.3deg	[env.py: 1019]
-05/10 06:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82076998  0.56193707  0.04417347] yaw=-177.5deg	[env.py: 1019]
-05/10 06:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:07:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.8ms, total=208.8ms	[env.py: 1075]
-05/10 06:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.933, 0.044)	[env.py: 1079]
-05/10 06:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg	[env.py: 1082]
-05/10 06:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
-05/10 06:07:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:07:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:07:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:07:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:07:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:07:43 INFO: [Worker 0] Worker 0 house 1 episode 70/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:07:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:07:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:07:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:07:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:07:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.637s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:07:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.496[m] 82.662[deg]	[grasp_sample.py: 539]
-05/10 06:07:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:07:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:07:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:07:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:07:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:07:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:07:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:07:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:07:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:07:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:07:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:07:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:07:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:07:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:07:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:07:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:07:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:07:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.416s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:07:55 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.454[deg]	[grasp_sample.py: 539]
-05/10 06:07:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:07:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:07:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:08:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:08:09 INFO: [Worker 0] Worker 0 house 1 episode 66 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:08:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:08:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:08:29 INFO: [Worker 0] Saved videos eagerly for episode 48 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:08:29 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 06:08:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:08:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:08:33 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 06:08:34 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=0.40s:
-  episode_total: mean=170.30s, total=170.30s, count=1, min=170304.7ms, max=170304.7ms
-  sensor_polling: mean=451.3ms, total=135.39s, count=300, min=403.1ms, max=703.8ms
-  physics_step: mean=20.3ms, total=6.09s, count=300, min=14.1ms, max=35.1ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4611.1ms, max=4611.1ms
-  task_sampling: mean=397.4ms, total=397.4ms, count=1, min=397.4ms, max=397.4ms
-  task_specific_sample: mean=393.6ms, total=393.6ms, count=1, min=393.6ms, max=393.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=443.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:08:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:08:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:08:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:08:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:08:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:08:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:08:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:08:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:08:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004689m	[env.py: 870]
-05/10 06:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:08:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 129.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77561505  1.02323452  0.004689  ] yaw=-160.9deg	[env.py: 1019]
-05/10 06:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 126.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96704207  0.55251816  0.004689  ] yaw=-175.4deg	[env.py: 1019]
-05/10 06:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81061467  1.05860942  0.004689  ] yaw=-140.0deg	[env.py: 1019]
-05/10 06:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:08:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=394.1ms, total=394.2ms	[env.py: 1075]
-05/10 06:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.776, 1.023, 0.005)	[env.py: 1079]
-05/10 06:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.9 deg	[env.py: 1082]
-05/10 06:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m	[env.py: 1086]
-05/10 06:08:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:08:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:08:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:08:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:08:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:08:36 INFO: [Worker 0] Worker 0 house 1 episode 67/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:08:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:08:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:08:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:08:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:08:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.487s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:08:41 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.654[m] 89.318[deg]	[grasp_sample.py: 539]
-05/10 06:08:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:08:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:08:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:08:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:08:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:09:17 INFO: [Worker 0] Worker 0 house 1 episode 69 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:09:27 INFO: [Worker 0] Worker 0 house 1 episode 68 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:09:37 INFO: [Worker 0] Saved videos eagerly for episode 49 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:09:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 06:09:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:09:41 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 06:09:41 INFO: [Worker 0] [PROFILE] Episode 69 house 1 success=True episode_total=0.48s:
-  episode_total: mean=176.51s, total=176.51s, count=1, min=176511.0ms, max=176511.0ms
-  sensor_polling: mean=466.6ms, total=139.99s, count=300, min=412.3ms, max=783.0ms
-  physics_step: mean=22.3ms, total=6.69s, count=300, min=13.8ms, max=66.0ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4071.9ms, max=4071.9ms
-  task_sampling: mean=480.9ms, total=480.9ms, count=1, min=480.9ms, max=480.9ms
-  task_specific_sample: mean=477.4ms, total=477.4ms, count=1, min=477.4ms, max=477.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=400.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:09:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:09:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:09:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:09:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:09:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:09:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:09:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:09:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:09:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:09:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:09:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026849m	[env.py: 870]
-05/10 06:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:09:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69426466  0.06042776  0.0268492 ] yaw=163.0deg	[env.py: 1019]
-05/10 06:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9080517   0.67987934  0.0268492 ] yaw=-163.9deg	[env.py: 1019]
-05/10 06:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85760212  0.71363659  0.0268492 ] yaw=-155.1deg	[env.py: 1019]
-05/10 06:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:09:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.4ms, total=180.4ms	[env.py: 1075]
-05/10 06:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.694, 0.060, 0.027)	[env.py: 1079]
-05/10 06:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.0 deg	[env.py: 1082]
-05/10 06:09:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m	[env.py: 1086]
-05/10 06:09:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:09:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:09:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:09:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:09:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:09:43 INFO: [Worker 0] Worker 0 house 1 episode 70/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:09:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:09:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:09:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:09:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:09:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:09:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.555s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:09:45 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.691[m] 96.362[deg]	[grasp_sample.py: 539]
-05/10 06:09:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:09:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:09:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:09:49 INFO: [Worker 0] Saved videos eagerly for episode 50 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:09:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 06:09:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:09:53 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 06:09:53 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=0.38s:
-  episode_total: mean=198.86s, total=198.86s, count=1, min=198861.2ms, max=198861.2ms
-  sensor_polling: mean=472.4ms, total=141.72s, count=300, min=418.2ms, max=867.4ms
-  physics_step: mean=21.2ms, total=6.35s, count=300, min=14.0ms, max=33.2ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4031.4ms, max=4031.4ms
-  task_sampling: mean=375.4ms, total=375.4ms, count=1, min=375.4ms, max=375.4ms
-  task_specific_sample: mean=371.9ms, total=371.9ms, count=1, min=371.9ms, max=371.9ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=381.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:09:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:09:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:09:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:09:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:09:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:09:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:09:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:09:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:09:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:09:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011594m	[env.py: 870]
-05/10 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:09:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89638     0.78389333 -0.01159369] yaw=-148.5deg	[env.py: 1019]
-05/10 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93330831  0.98131995 -0.01159369] yaw=-156.2deg	[env.py: 1019]
-05/10 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97650203  0.25984758 -0.01159369] yaw=156.7deg	[env.py: 1019]
-05/10 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:09:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.9ms, total=123.0ms	[env.py: 1075]
-05/10 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.784, -0.012)	[env.py: 1079]
-05/10 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.5 deg	[env.py: 1082]
-05/10 06:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
-05/10 06:09:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:09:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:09:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:09:55 INFO: [Worker 0] Worker 0 house 1 episode 69/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:09:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:09:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:09:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:09:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:09:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:09:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.400[m] 82.380[deg]	[grasp_sample.py: 539]
-05/10 06:09:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:09:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:09:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:09:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:10:13 INFO: [Worker 0] Worker 0 house 1 episode 70 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:10:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:10:33 INFO: [Worker 0] Saved videos eagerly for episode 47 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:10:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 06:10:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:10:37 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 06:10:37 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=0.48s:
-  episode_total: mean=174.15s, total=174.15s, count=1, min=174150.2ms, max=174150.2ms
-  sensor_polling: mean=464.1ms, total=139.24s, count=300, min=403.5ms, max=765.6ms
-  physics_step: mean=21.2ms, total=6.36s, count=300, min=14.3ms, max=54.8ms
-  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3946.3ms, max=3946.3ms
-  task_sampling: mean=478.5ms, total=478.5ms, count=1, min=478.5ms, max=478.5ms
-  task_specific_sample: mean=474.6ms, total=474.6ms, count=1, min=474.6ms, max=474.6ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=416.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:10:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:10:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:10:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:10:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:10:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:10:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:10:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:10:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:10:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.030m, effective arm-mount z=0.830m (base_body_z=-0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.029828m	[env.py: 870]
-05/10 06:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:10:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:10:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78107165 -0.02116211 -0.02982819] yaw=155.7deg	[env.py: 1019]
-05/10 06:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.65022218  0.6129135  -0.02982819] yaw=-166.2deg	[env.py: 1019]
-05/10 06:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83404946  0.69021404 -0.02982819] yaw=-173.8deg	[env.py: 1019]
-05/10 06:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:10:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.2ms, total=126.2ms	[env.py: 1075]
-05/10 06:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.781, -0.021, -0.030)	[env.py: 1079]
-05/10 06:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.7 deg	[env.py: 1082]
-05/10 06:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
-05/10 06:10:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:10:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:10:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:10:39 INFO: [Worker 0] Worker 0 house 1 episode 71/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:10:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:10:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:10:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:10:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:10:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.543s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:10:41 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.614[m] 89.802[deg]	[grasp_sample.py: 539]
-05/10 06:10:42 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 06:10:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:10:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:10:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:10:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:10:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:10:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:10:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:10:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:10:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:10:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:10:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:10:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:10:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:10:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:10:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046821m	[env.py: 870]
-05/10 06:10:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:10:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:10:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:10:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 136.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:10:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:10:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96717735  0.5033219   0.04682113] yaw=-169.0deg	[env.py: 1019]
-05/10 06:10:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06499106  1.14783698  0.04682113] yaw=-132.3deg	[env.py: 1019]
-05/10 06:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92541954  0.58156369  0.04682113] yaw=-162.4deg	[env.py: 1019]
-05/10 06:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:10:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.7ms, total=109.7ms	[env.py: 1075]
-05/10 06:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.967, 0.503, 0.047)	[env.py: 1079]
-05/10 06:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg	[env.py: 1082]
-05/10 06:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.735m	[env.py: 1086]
-05/10 06:10:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:10:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:10:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:10:44 INFO: [Worker 0] Worker 0 house 1 episode 72/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:10:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:10:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:10:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:10:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:10:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.458s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:10:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.284[m] 78.313[deg]	[grasp_sample.py: 539]
-05/10 06:10:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:10:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:10:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:10:47 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 06:10:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:10:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:10:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:10:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 68 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:10:49 INFO: [Worker 0] Feasibility-checked 68 grasps in 1.450s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:10:49 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.117[m] 0.674[deg]	[grasp_sample.py: 539]
-05/10 06:10:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:10:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:10:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:10:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:10:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:11:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:11:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:11:05 INFO: [Worker 0] Worker 0 house 1 episode 67 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:11:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:11:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:11:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:11:25 INFO: [Worker 0] Saved videos eagerly for episode 49 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:11:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 06:11:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:11:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:11:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:11:36 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.42s (batch: 3.90s, save: 7.52s)	[pipeline.py: 300]
-05/10 06:11:37 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=0.70s:
-  episode_total: mean=181.10s, total=181.10s, count=1, min=181097.2ms, max=181097.2ms
-  sensor_polling: mean=446.3ms, total=133.90s, count=300, min=401.3ms, max=874.3ms
-  save_trajectories: mean=7.52s, total=7.52s, count=1, min=7520.6ms, max=7520.6ms
-  physics_step: mean=20.6ms, total=6.17s, count=300, min=14.2ms, max=141.7ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3902.2ms, max=3902.2ms
-  task_sampling: mean=695.3ms, total=695.3ms, count=1, min=695.3ms, max=695.3ms
-  task_specific_sample: mean=690.6ms, total=690.6ms, count=1, min=690.6ms, max=690.6ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=622.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=29.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:11:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:11:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:11:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:11:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:11:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:11:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:11:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:11:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:11:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001742m	[env.py: 870]
-05/10 06:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:11:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80657859  0.69904386  0.00174205] yaw=-175.4deg	[env.py: 1019]
-05/10 06:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 128.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82481003  0.78188489  0.00174205] yaw=-171.4deg	[env.py: 1019]
-05/10 06:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.05515391  0.91602477  0.00174205] yaw=-144.9deg	[env.py: 1019]
-05/10 06:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:11:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=233.1ms, total=233.1ms	[env.py: 1075]
-05/10 06:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.807, 0.699, 0.002)	[env.py: 1079]
-05/10 06:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.4 deg	[env.py: 1082]
-05/10 06:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
-05/10 06:11:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:11:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:11:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:11:39 INFO: [Worker 0] Worker 0 house 1 episode 68/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:11:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:11:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:11:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:11:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:11:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.537s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:11:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.507[m] 97.331[deg]	[grasp_sample.py: 539]
-05/10 06:11:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:11:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:11:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:11:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:11:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:11:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:11:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:11:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:11:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:11:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:12:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:12:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:12:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:12:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:12:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:12:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:12:01 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.123s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:12:01 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.169[deg]	[grasp_sample.py: 539]
-05/10 06:12:02 ERROR: [Worker 0] Worker 0 house 1 episode 72 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 06:12:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:12:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:12:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:12:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:12:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:12:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:12:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:12:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:12:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:12:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:12:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008018m	[env.py: 870]
-05/10 06:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:12:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77445644  0.27492587 -0.00801816] yaw=159.7deg	[env.py: 1019]
-05/10 06:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8888668   0.5714742  -0.00801816] yaw=-180.7deg	[env.py: 1019]
-05/10 06:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98334638  0.23668736 -0.00801816] yaw=150.6deg	[env.py: 1019]
-05/10 06:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:12:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.7ms, total=131.8ms	[env.py: 1075]
-05/10 06:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.774, 0.275, -0.008)	[env.py: 1079]
-05/10 06:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.7 deg	[env.py: 1082]
-05/10 06:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
-05/10 06:12:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:12:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:12:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:12:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:12:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:12:05 INFO: [Worker 0] Worker 0 house 1 episode 73/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:12:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:12:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:12:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:12:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:12:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.434s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:12:06 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.529[m] 91.997[deg]	[grasp_sample.py: 539]
-05/10 06:12:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:12:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:12:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:12:15 INFO: [Worker 0] Worker 0 house 1 episode 69 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:12:22 INFO: [Worker 0] Worker 0 house 1 episode 70 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:12:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:12:38 INFO: [Worker 0] Saved videos eagerly for episode 51 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:12:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 06:12:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:12:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:12:42 INFO: [Worker 0] Saved videos eagerly for episode 50 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:12:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 06:12:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:12:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:12:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:12:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:12:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.61s (batch: 4.06s, save: 9.55s)	[pipeline.py: 300]
-05/10 06:12:52 INFO: [Worker 0] [PROFILE] Episode 69 house 1 success=True episode_total=0.38s:
-  episode_total: mean=178.02s, total=178.02s, count=1, min=178024.6ms, max=178024.6ms
-  sensor_polling: mean=438.4ms, total=131.52s, count=300, min=403.8ms, max=677.9ms
-  save_trajectories: mean=9.55s, total=9.55s, count=1, min=9549.9ms, max=9549.9ms
-  physics_step: mean=20.0ms, total=6.01s, count=300, min=14.7ms, max=54.9ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4063.6ms, max=4063.6ms
-  task_sampling: mean=378.1ms, total=378.1ms, count=1, min=378.1ms, max=378.1ms
-  task_specific_sample: mean=374.4ms, total=374.4ms, count=1, min=374.4ms, max=374.4ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=396.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:12:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:12:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:12:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:12:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:12:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:12:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:12:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:12:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:12:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002934m	[env.py: 870]
-05/10 06:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:12:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0787252   1.11202753  0.00293372] yaw=-129.2deg	[env.py: 1019]
-05/10 06:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91703223  0.85258772  0.00293372] yaw=-151.7deg	[env.py: 1019]
-05/10 06:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80925214  0.24297307  0.00293372] yaw=159.6deg	[env.py: 1019]
-05/10 06:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:12:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.5ms, total=96.5ms	[env.py: 1075]
-05/10 06:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.079, 1.112, 0.003)	[env.py: 1079]
-05/10 06:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.2 deg	[env.py: 1082]
-05/10 06:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
-05/10 06:12:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:12:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:12:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:12:54 INFO: [Worker 0] Worker 0 house 1 episode 70/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:12:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:12:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:12:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:12:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:12:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:12:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:12:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.73s (batch: 4.38s, save: 8.35s)	[pipeline.py: 300]
-05/10 06:12:55 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=0.47s:
-  episode_total: mean=192.24s, total=192.24s, count=1, min=192238.3ms, max=192238.3ms
-  sensor_polling: mean=441.9ms, total=132.57s, count=300, min=404.2ms, max=814.5ms
-  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8346.7ms, max=8346.7ms
-  physics_step: mean=19.8ms, total=5.95s, count=300, min=14.4ms, max=31.6ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4383.1ms, max=4383.1ms
-  task_sampling: mean=466.6ms, total=466.6ms, count=1, min=466.6ms, max=466.6ms
-  task_specific_sample: mean=463.3ms, total=463.3ms, count=1, min=463.3ms, max=463.3ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=403.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:12:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.859s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:12:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.489[m] 96.175[deg]	[grasp_sample.py: 539]
-05/10 06:12:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:12:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:12:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:12:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:12:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:12:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:12:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:12:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:12:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:12:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:12:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:12:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040283m	[env.py: 870]
-05/10 06:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:12:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06573228  0.93937305  0.04028308] yaw=-155.3deg	[env.py: 1019]
-05/10 06:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77043602  0.15028228  0.04028308] yaw=161.2deg	[env.py: 1019]
-05/10 06:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89639728  0.23553809  0.04028308] yaw=152.2deg	[env.py: 1019]
-05/10 06:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:12:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.9ms, total=118.9ms	[env.py: 1075]
-05/10 06:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.066, 0.939, 0.040)	[env.py: 1079]
-05/10 06:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.3 deg	[env.py: 1082]
-05/10 06:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.784m	[env.py: 1086]
-05/10 06:12:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:12:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:12:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:12:57 INFO: [Worker 0] Worker 0 house 1 episode 71/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:12:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:12:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:12:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:12:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:12:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.559s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:12:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.366[m] 90.137[deg]	[grasp_sample.py: 539]
-05/10 06:12:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:12:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:12:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:12:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:13:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:13:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:13:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:13:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:13:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:13:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:13:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:14:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:14:13 INFO: [Worker 0] Worker 0 house 1 episode 68 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:14:37 INFO: [Worker 0] Saved videos eagerly for episode 50 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:14:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 06:14:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:14:46 INFO: [Worker 0] Worker 0 house 1 episode 73 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:14:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:14:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:14:50 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.38s (batch: 4.79s, save: 8.59s)	[pipeline.py: 300]
-05/10 06:14:51 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=0.49s:
-  episode_total: mean=192.52s, total=192.52s, count=1, min=192522.2ms, max=192522.2ms
-  sensor_polling: mean=476.7ms, total=143.02s, count=300, min=406.3ms, max=878.2ms
-  save_trajectories: mean=8.59s, total=8.59s, count=1, min=8593.0ms, max=8593.0ms
-  physics_step: mean=24.2ms, total=7.26s, count=300, min=14.7ms, max=57.6ms
-  save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4790.4ms, max=4790.4ms
-  task_sampling: mean=492.1ms, total=492.1ms, count=1, min=492.1ms, max=492.1ms
-  task_specific_sample: mean=488.0ms, total=488.0ms, count=1, min=488.0ms, max=488.0ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=469.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:14:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:14:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:14:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:14:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:14:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:14:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:14:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:14:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:14:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028780m	[env.py: 870]
-05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:14:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04459033  0.19570772  0.02877967] yaw=167.8deg	[env.py: 1019]
-05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86851205  0.18642039  0.02877967] yaw=149.3deg	[env.py: 1019]
-05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99928807  0.25517804  0.02877967] yaw=171.8deg	[env.py: 1019]
-05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:14:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.5ms, total=118.5ms	[env.py: 1075]
-05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.045, 0.196, 0.029)	[env.py: 1079]
-05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.8 deg	[env.py: 1082]
-05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.717m	[env.py: 1086]
-05/10 06:14:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:14:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:14:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:14:53 INFO: [Worker 0] Worker 0 house 1 episode 69/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:14:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:14:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:14:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:14:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:14:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:14:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.253[m] 83.641[deg]	[grasp_sample.py: 539]
-05/10 06:14:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:14:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:14:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:15:11 INFO: [Worker 0] Saved videos eagerly for episode 48 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:15:11 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 06:15:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:15:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:15:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:15:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:15:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:15:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:15:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:15:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:15:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:15:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:15:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:15:23 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.89s (batch: 4.34s, save: 7.56s)	[pipeline.py: 300]
-05/10 06:15:24 INFO: [Worker 0] [PROFILE] Episode 73 house 1 success=True episode_total=1.10s:
-  episode_total: mean=93.86s, total=281.59s, count=3, min=3024.7ms, max=199509.5ms
-  sensor_polling: mean=469.3ms, total=206.48s, count=440, min=401.9ms, max=813.6ms
-  physics_step: mean=21.2ms, total=9.31s, count=440, min=13.7ms, max=50.4ms
-  save_trajectories: mean=7.56s, total=7.56s, count=1, min=7557.9ms, max=7557.9ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4336.3ms, max=4336.3ms
-  task_sampling: mean=367.8ms, total=1.10s, count=3, min=355.9ms, max=380.5ms
-  task_specific_sample: mean=364.9ms, total=1.09s, count=3, min=353.0ms, max=377.0ms
-  scene_randomize: mean=1.5ms, total=4.6ms, count=3, min=1.1ms, max=2.3ms
-  mj_forward_sync: mean=388.9us, total=1.2ms, count=3, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:15:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:15:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:15:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:15:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:15:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:15:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:15:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:15:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:15:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:15:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:15:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:15:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:15:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:15:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:15:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010281m	[env.py: 870]
-05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:15:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02030732  0.98303599  0.01028056] yaw=-142.9deg	[env.py: 1019]
-05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8149652   0.55607892  0.01028056] yaw=-175.7deg	[env.py: 1019]
-05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.08668651  1.2159381   0.01028056] yaw=-140.2deg	[env.py: 1019]
-05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:15:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.4ms, total=135.4ms	[env.py: 1075]
-05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.983, 0.010)	[env.py: 1079]
-05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.9 deg	[env.py: 1082]
-05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
-05/10 06:15:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:15:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:15:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:15:26 INFO: [Worker 0] Worker 0 house 1 episode 74/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:15:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:15:26 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.629s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 06:15:26 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 06:15:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:15:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:15:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:15:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.570s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:15:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.428[m] 86.858[deg]	[grasp_sample.py: 539]
-05/10 06:15:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:15:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:15:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:15:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:15:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:15:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:15:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:15:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:15:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:15:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:15:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:15:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:15:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036917m	[env.py: 870]
-05/10 06:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:15:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92814608  0.72513548 -0.0369172 ] yaw=-152.9deg	[env.py: 1019]
-05/10 06:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85545213  0.3457257  -0.0369172 ] yaw=182.2deg	[env.py: 1019]
-05/10 06:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80408471  0.47097595 -0.0369172 ] yaw=185.2deg	[env.py: 1019]
-05/10 06:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:15:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.2ms, total=110.2ms	[env.py: 1075]
-05/10 06:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.928, 0.725, -0.037)	[env.py: 1079]
-05/10 06:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.9 deg	[env.py: 1082]
-05/10 06:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
-05/10 06:15:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:15:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:15:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:15:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:15:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:15:28 INFO: [Worker 0] Worker 0 house 1 episode 71/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:15:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:15:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:15:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:15:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:15:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.447s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:15:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.362[m] 86.862[deg]	[grasp_sample.py: 539]
-05/10 06:15:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:15:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:15:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:15:30 INFO: [Worker 0] Worker 0 house 1 episode 71 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:15:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:15:50 INFO: [Worker 0] Saved videos eagerly for episode 51 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:15:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 06:15:50 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
-05/10 06:15:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:15:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:15:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:15:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:16:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:16:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:16:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:16:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:16:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.80s (batch: 3.80s, save: 8.00s)	[pipeline.py: 300]
-05/10 06:16:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:16:03 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=0.38s:
-  episode_total: mean=185.92s, total=185.92s, count=1, min=185920.5ms, max=185920.5ms
-  sensor_polling: mean=483.6ms, total=142.17s, count=294, min=395.6ms, max=846.0ms
-  save_trajectories: mean=8.00s, total=8.00s, count=1, min=7995.1ms, max=7995.1ms
-  physics_step: mean=22.3ms, total=6.55s, count=294, min=16.5ms, max=58.1ms
-  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3803.2ms, max=3803.2ms
-  task_sampling: mean=377.0ms, total=377.0ms, count=1, min=377.0ms, max=377.0ms
-  task_specific_sample: mean=373.7ms, total=373.7ms, count=1, min=373.7ms, max=373.7ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=391.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:16:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:16:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:16:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:16:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:16:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:16:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:16:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:16:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:16:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:16:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:16:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:16:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049417m	[env.py: 870]
-05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:16:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98895843  0.74275214  0.04941695] yaw=-161.1deg	[env.py: 1019]
-05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85275567  0.85779716  0.04941695] yaw=-163.0deg	[env.py: 1019]
-05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03614285  1.07177528  0.04941695] yaw=-127.5deg	[env.py: 1019]
-05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:16:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.3ms, total=85.3ms	[env.py: 1075]
-05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.989, 0.743, 0.049)	[env.py: 1079]
-05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg	[env.py: 1082]
-05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m	[env.py: 1086]
-05/10 06:16:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:16:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:16:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:16:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:16:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:16:05 INFO: [Worker 0] Worker 0 house 1 episode 72/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:16:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:16:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:16:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:16:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:16:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:16:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:16:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:16:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:16:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:16:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:16:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:16:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.511s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:16:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.332[m] 90.794[deg]	[grasp_sample.py: 539]
-05/10 06:16:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:16:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:16:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:16:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.722s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:16:06 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.048[deg]	[grasp_sample.py: 539]
-05/10 06:16:08 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 06:16:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:16:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:16:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:16:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:16:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:16:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:16:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:16:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:16:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036232m	[env.py: 870]
-05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:16:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78219676  0.04194326  0.03623225] yaw=151.3deg	[env.py: 1019]
-05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01455305  0.99386363  0.03623225] yaw=-145.2deg	[env.py: 1019]
-05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.23424172  1.01640539  0.03623225] yaw=-128.0deg	[env.py: 1019]
-05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:16:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=396.7ms, total=396.7ms	[env.py: 1075]
-05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.042, 0.036)	[env.py: 1079]
-05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.3 deg	[env.py: 1082]
-05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m	[env.py: 1086]
-05/10 06:16:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:16:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:16:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:16:10 INFO: [Worker 0] Worker 0 house 1 episode 70/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:16:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:16:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:16:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:16:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:16:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:16:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.494s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:16:12 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.581[m] 86.562[deg]	[grasp_sample.py: 539]
-05/10 06:16:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:16:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:16:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:16:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:16:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:16:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:16:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:16:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:16:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:17:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:17:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:17:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:17:57 INFO: [Worker 0] Worker 0 house 1 episode 71 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:17:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:18:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:18:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:18:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:18:04 INFO: [Worker 0] Worker 0 house 1 episode 74 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:18:23 INFO: [Worker 0] Saved videos eagerly for episode 52 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:18:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 06:18:23 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
-05/10 06:18:33 INFO: [Worker 0] Saved videos eagerly for episode 49 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:18:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 06:18:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:18:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:18:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:18:36 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.32s (batch: 4.58s, save: 8.74s)	[pipeline.py: 300]
-05/10 06:18:36 INFO: [Worker 0] Worker 0 house 1 episode 72 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:18:36 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=0.71s:
-  episode_total: mean=170.43s, total=340.86s, count=2, min=151823.4ms, max=189041.1ms
-  sensor_polling: mean=477.5ms, total=269.32s, count=564, min=402.8ms, max=1033.8ms
-  physics_step: mean=22.8ms, total=12.86s, count=564, min=13.7ms, max=98.1ms
-  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8739.8ms, max=8739.8ms
-  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4580.0ms, max=4580.0ms
-  task_sampling: mean=354.9ms, total=709.7ms, count=2, min=348.2ms, max=361.6ms
-  task_specific_sample: mean=351.5ms, total=703.0ms, count=2, min=345.1ms, max=357.9ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=416.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:18:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:18:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:18:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:18:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:18:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:18:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:18:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:18:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:18:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027665m	[env.py: 870]
-05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:18:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79924559  0.66898901  0.02766547] yaw=-160.6deg	[env.py: 1019]
-05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82816605  0.10898778  0.02766547] yaw=159.8deg	[env.py: 1019]
-05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62364409  0.50694637  0.02766547] yaw=-176.3deg	[env.py: 1019]
-05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:18:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.1ms, total=134.1ms	[env.py: 1075]
-05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.799, 0.669, 0.028)	[env.py: 1079]
-05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.6 deg	[env.py: 1082]
-05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
-05/10 06:18:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:18:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:18:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:18:38 INFO: [Worker 0] Worker 0 house 1 episode 72/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:18:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:18:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:18:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:18:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:18:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.506s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:18:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.485[m] 86.204[deg]	[grasp_sample.py: 539]
-05/10 06:18:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:18:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:18:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:18:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:18:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:18:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.93s (batch: 3.92s, save: 8.01s)	[pipeline.py: 300]
-05/10 06:18:45 INFO: [Worker 0] [PROFILE] Episode 74 house 1 success=True episode_total=0.40s:
-  episode_total: mean=199.90s, total=199.90s, count=1, min=199895.6ms, max=199895.6ms
-  sensor_polling: mean=476.7ms, total=143.01s, count=300, min=401.5ms, max=853.0ms
-  save_trajectories: mean=8.01s, total=8.01s, count=1, min=8009.4ms, max=8009.4ms
-  physics_step: mean=22.5ms, total=6.75s, count=300, min=13.4ms, max=62.6ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3924.2ms, max=3924.2ms
-  task_sampling: mean=395.4ms, total=395.4ms, count=1, min=395.4ms, max=395.4ms
-  task_specific_sample: mean=391.8ms, total=391.8ms, count=1, min=391.8ms, max=391.8ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=391.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:18:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:18:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:18:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:18:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:18:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:18:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:18:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:18:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:18:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011810m	[env.py: 870]
-05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:18:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94098186  0.62821321  0.01180972] yaw=-164.2deg	[env.py: 1019]
-05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84433489  0.87621925  0.01180972] yaw=-152.1deg	[env.py: 1019]
-05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.83968451  0.06387064  0.01180972] yaw=160.8deg	[env.py: 1019]
-05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:18:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.4ms, total=149.4ms	[env.py: 1075]
-05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.628, 0.012)	[env.py: 1079]
-05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.2 deg	[env.py: 1082]
-05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.775m	[env.py: 1086]
-05/10 06:18:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:18:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:18:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:18:47 INFO: [Worker 0] Worker 0 house 1 episode 75/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:18:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:18:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:18:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:18:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:18:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.402s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:18:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.358[m] 93.807[deg]	[grasp_sample.py: 539]
-05/10 06:18:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:18:48 INFO: [Worker 0] Worker 0 house 1 episode 70 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:18:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:18:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:18:55 INFO: [Worker 0] Saved videos eagerly for episode 52 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:18:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 06:18:55 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
-05/10 06:19:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:19:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:19:06 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.96s (batch: 3.74s, save: 7.22s)	[pipeline.py: 300]
-05/10 06:19:07 INFO: [Worker 0] [PROFILE] Episode 72 house 1 success=True episode_total=0.39s:
-  episode_total: mean=182.50s, total=182.50s, count=1, min=182495.8ms, max=182495.8ms
-  sensor_polling: mean=490.3ms, total=140.71s, count=287, min=398.7ms, max=944.8ms
-  save_trajectories: mean=7.22s, total=7.22s, count=1, min=7216.8ms, max=7216.8ms
-  physics_step: mean=22.5ms, total=6.46s, count=287, min=16.8ms, max=85.6ms
-  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3744.0ms, max=3744.0ms
-  task_sampling: mean=386.3ms, total=386.3ms, count=1, min=386.3ms, max=386.3ms
-  task_specific_sample: mean=382.9ms, total=382.9ms, count=1, min=382.9ms, max=382.9ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=378.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:19:08 INFO: [Worker 0] Saved videos eagerly for episode 51 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:19:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 06:19:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:19:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:19:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:19:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:19:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:19:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:19:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:19:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:19:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:19:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021243m	[env.py: 870]
-05/10 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:19:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9641829   0.39821702 -0.02124289] yaw=173.1deg	[env.py: 1019]
-05/10 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73518152  0.89132614 -0.02124289] yaw=-161.1deg	[env.py: 1019]
-05/10 06:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96930982  0.32785374 -0.02124289] yaw=177.5deg	[env.py: 1019]
-05/10 06:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:19:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.9ms, total=212.9ms	[env.py: 1075]
-05/10 06:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.964, 0.398, -0.021)	[env.py: 1079]
-05/10 06:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.1 deg	[env.py: 1082]
-05/10 06:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.743m	[env.py: 1086]
-05/10 06:19:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:19:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:19:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:19:09 INFO: [Worker 0] Worker 0 house 1 episode 73/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:19:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:19:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:19:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:19:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:19:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.459s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:19:09 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.258[m] 82.380[deg]	[grasp_sample.py: 539]
-05/10 06:19:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:19:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:19:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:19:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:19:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:19:23 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.47s (batch: 4.02s, save: 11.45s)	[pipeline.py: 300]
-05/10 06:19:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:19:24 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=1.19s:
-  episode_total: mean=134.98s, total=269.96s, count=2, min=75484.9ms, max=194471.4ms
-  sensor_polling: mean=482.5ms, total=204.59s, count=424, min=384.5ms, max=930.0ms
-  save_trajectories: mean=11.45s, total=11.45s, count=1, min=11450.5ms, max=11450.5ms
-  physics_step: mean=23.3ms, total=9.87s, count=424, min=15.2ms, max=70.3ms
-  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4017.3ms, max=4017.3ms
-  task_sampling: mean=594.2ms, total=1.19s, count=2, min=444.4ms, max=744.0ms
-  task_specific_sample: mean=590.3ms, total=1.18s, count=2, min=440.4ms, max=740.2ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.6ms, max=2.6ms
-  mj_forward_sync: mean=523.8us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=15.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:19:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:19:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:19:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:19:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:19:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:19:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:19:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035180m	[env.py: 870]
-05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:19:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92209834  1.15789289 -0.03518014] yaw=-146.9deg	[env.py: 1019]
-05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69591941  0.89909312 -0.03518014] yaw=-152.7deg	[env.py: 1019]
-05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95529062  0.15398381 -0.03518014] yaw=145.4deg	[env.py: 1019]
-05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:19:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.0ms, total=203.0ms	[env.py: 1075]
-05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.922, 1.158, -0.035)	[env.py: 1079]
-05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.9 deg	[env.py: 1082]
-05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
-05/10 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:19:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:19:26 INFO: [Worker 0] Worker 0 house 1 episode 71/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:19:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.156s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:19:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:19:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:19:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:19:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:19:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.675s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:19:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.615[m] 87.099[deg]	[grasp_sample.py: 539]
-05/10 06:19:30 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 06:19:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:19:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:19:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:19:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:19:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:19:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:19:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031235m	[env.py: 870]
-05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:19:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76339892  0.77857546  0.0312347 ] yaw=-171.3deg	[env.py: 1019]
-05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:19:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=255.8ms, total=255.8ms	[env.py: 1075]
-05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.763, 0.779, 0.031)	[env.py: 1079]
-05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.3 deg	[env.py: 1082]
-05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
-05/10 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:19:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:19:32 INFO: [Worker 0] Worker 0 house 1 episode 72/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:19:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:19:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:19:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:19:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:19:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.581s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:19:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.568[m] 93.164[deg]	[grasp_sample.py: 539]
-05/10 06:19:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:19:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:19:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:19:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:19:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:19:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:19:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:19:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:19:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:19:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:20:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:20:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:20:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:21:11 INFO: [Worker 0] Worker 0 house 1 episode 72 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:21:18 INFO: [Worker 0] Worker 0 house 1 episode 75 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:21:30 INFO: [Worker 0] Worker 0 house 1 episode 73 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:21:35 INFO: [Worker 0] Saved videos eagerly for episode 53 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:21:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 06:21:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:21:41 INFO: [Worker 0] Saved videos eagerly for episode 50 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:21:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 06:21:41 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
-05/10 06:21:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:21:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:21:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.85s (batch: 4.06s, save: 8.79s)	[pipeline.py: 300]
-05/10 06:21:48 INFO: [Worker 0] [PROFILE] Episode 72 house 1 success=True episode_total=0.47s:
-  episode_total: mean=190.11s, total=190.11s, count=1, min=190115.0ms, max=190115.0ms
-  sensor_polling: mean=473.4ms, total=142.01s, count=300, min=404.1ms, max=937.7ms
-  save_trajectories: mean=8.79s, total=8.79s, count=1, min=8789.3ms, max=8789.3ms
-  physics_step: mean=21.7ms, total=6.51s, count=300, min=13.8ms, max=83.4ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4058.9ms, max=4058.9ms
-  task_sampling: mean=465.0ms, total=465.0ms, count=1, min=465.0ms, max=465.0ms
-  task_specific_sample: mean=461.4ms, total=461.4ms, count=1, min=461.4ms, max=461.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=401.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:21:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:21:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:21:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:21:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:21:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:21:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:21:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:21:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:21:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049006m	[env.py: 870]
-05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:21:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90602004  0.84821245  0.04900593] yaw=-159.2deg	[env.py: 1019]
-05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09019265  0.90826374  0.04900593] yaw=-140.8deg	[env.py: 1019]
-05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92110992  0.11807995  0.04900593] yaw=160.9deg	[env.py: 1019]
-05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:21:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.8ms, total=127.8ms	[env.py: 1075]
-05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.906, 0.848, 0.049)	[env.py: 1079]
-05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.2 deg	[env.py: 1082]
-05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
-05/10 06:21:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:21:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:21:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:21:50 INFO: [Worker 0] Worker 0 house 1 episode 73/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:21:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:21:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:21:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:21:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:21:50 INFO: [Worker 0] Saved videos eagerly for episode 53 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:21:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 06:21:50 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
-05/10 06:21:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.564s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:21:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.410[m] 79.211[deg]	[grasp_sample.py: 539]
-05/10 06:21:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:21:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:21:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:21:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:21:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:21:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.74s (batch: 4.47s, save: 8.27s)	[pipeline.py: 300]
-05/10 06:21:54 INFO: [Worker 0] [PROFILE] Episode 75 house 1 success=True episode_total=0.43s:
-  episode_total: mean=187.52s, total=187.52s, count=1, min=187524.4ms, max=187524.4ms
-  sensor_polling: mean=474.8ms, total=139.60s, count=294, min=396.7ms, max=881.3ms
-  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8265.4ms, max=8265.4ms
-  physics_step: mean=21.7ms, total=6.38s, count=294, min=14.8ms, max=45.2ms
-  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4473.6ms, max=4473.6ms
-  task_sampling: mean=431.3ms, total=431.3ms, count=1, min=431.3ms, max=431.3ms
-  task_specific_sample: mean=427.0ms, total=427.0ms, count=1, min=427.0ms, max=427.0ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=520.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:21:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:21:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:21:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:21:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:21:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:21:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:21:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:21:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:21:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:21:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:21:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040631m	[env.py: 870]
-05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:21:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99608121  0.16256777  0.04063089] yaw=147.8deg	[env.py: 1019]
-05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75374276  0.44925258  0.04063089] yaw=172.4deg	[env.py: 1019]
-05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76730222  0.4238274   0.04063089] yaw=180.3deg	[env.py: 1019]
-05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:21:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.3ms, total=226.3ms	[env.py: 1075]
-05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.163, 0.041)	[env.py: 1079]
-05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.8 deg	[env.py: 1082]
-05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.775m	[env.py: 1086]
-05/10 06:21:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:21:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:21:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:21:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:21:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:21:56 INFO: [Worker 0] Worker 0 house 1 episode 76/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:21:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:21:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:21:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:21:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:21:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.447s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:21:57 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.369[m] 94.477[deg]	[grasp_sample.py: 539]
-05/10 06:21:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:21:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:21:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:22:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:22:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:22:01 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.01s (batch: 3.74s, save: 7.26s)	[pipeline.py: 300]
-05/10 06:22:02 INFO: [Worker 0] [PROFILE] Episode 73 house 1 success=True episode_total=0.51s:
-  episode_total: mean=173.59s, total=173.59s, count=1, min=173588.1ms, max=173588.1ms
-  sensor_polling: mean=480.0ms, total=130.08s, count=271, min=391.0ms, max=1067.2ms
-  save_trajectories: mean=7.26s, total=7.26s, count=1, min=7264.4ms, max=7264.4ms
-  physics_step: mean=24.0ms, total=6.52s, count=271, min=13.7ms, max=72.0ms
-  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3740.7ms, max=3740.7ms
-  task_sampling: mean=511.6ms, total=511.6ms, count=1, min=511.6ms, max=511.6ms
-  task_specific_sample: mean=508.1ms, total=508.1ms, count=1, min=508.1ms, max=508.1ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=370.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:22:03 INFO: [Worker 0] Worker 0 house 1 episode 72 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:22:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:22:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:22:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:22:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:22:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:22:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:22:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:22:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:22:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:22:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:22:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033366m	[env.py: 870]
-05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:22:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94227369  0.39005826  0.03336585] yaw=168.9deg	[env.py: 1019]
-05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99810259  0.32855598  0.03336585] yaw=172.0deg	[env.py: 1019]
-05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95289967  0.62901527  0.03336585] yaw=-177.7deg	[env.py: 1019]
-05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:22:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.4ms, total=100.5ms	[env.py: 1075]
-05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.390, 0.033)	[env.py: 1079]
-05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.9 deg	[env.py: 1082]
-05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
-05/10 06:22:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:22:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:22:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:22:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:22:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:22:04 INFO: [Worker 0] Worker 0 house 1 episode 74/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:22:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:22:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:22:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:22:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:22:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:22:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.307[m] 90.356[deg]	[grasp_sample.py: 539]
-05/10 06:22:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:22:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:22:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:22:25 INFO: [Worker 0] Saved videos eagerly for episode 52 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:22:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 06:22:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:22:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:22:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:22:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:22:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:22:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:22:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.04s (batch: 3.90s, save: 9.15s)	[pipeline.py: 300]
-05/10 06:22:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:22:39 INFO: [Worker 0] [PROFILE] Episode 72 house 1 success=True episode_total=0.99s:
-  episode_total: mean=95.68s, total=191.37s, count=2, min=4547.7ms, max=186821.9ms
-  sensor_polling: mean=465.9ms, total=139.78s, count=300, min=384.0ms, max=722.9ms
-  save_trajectories: mean=9.15s, total=9.15s, count=1, min=9146.5ms, max=9146.5ms
-  physics_step: mean=21.4ms, total=6.43s, count=300, min=16.9ms, max=52.5ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3897.9ms, max=3897.9ms
-  task_sampling: mean=493.4ms, total=986.8ms, count=2, min=474.3ms, max=512.5ms
-  task_specific_sample: mean=490.0ms, total=980.0ms, count=2, min=471.6ms, max=508.4ms
-  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms
-  mj_forward_sync: mean=427.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:22:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:22:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:22:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:22:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:22:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:22:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:22:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021291m	[env.py: 870]
-05/10 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:22:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98839173  0.76034962  0.02129055] yaw=-158.2deg	[env.py: 1019]
-05/10 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.63149784  0.34545436  0.02129055] yaw=172.6deg	[env.py: 1019]
-05/10 06:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88073157  0.78119888  0.02129055] yaw=-158.0deg	[env.py: 1019]
-05/10 06:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:22:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.7ms, total=121.8ms	[env.py: 1075]
-05/10 06:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.988, 0.760, 0.021)	[env.py: 1079]
-05/10 06:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.2 deg	[env.py: 1082]
-05/10 06:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
-05/10 06:22:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:22:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:22:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:22:41 INFO: [Worker 0] Worker 0 house 1 episode 73/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:22:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:22:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:22:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:22:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:22:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.525s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:22:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.302[m] 78.532[deg]	[grasp_sample.py: 539]
-05/10 06:22:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:22:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:22:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:22:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:22:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:22:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:22:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:22:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:23:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:23:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:23:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:23:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:23:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:23:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:23:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:23:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:23:42 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.395s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:23:42 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.699[deg]	[grasp_sample.py: 539]
-05/10 06:23:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:23:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:23:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:23:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:23:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:23:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:23:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:23:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:23:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 84 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:23:56 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.828s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:23:56 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.023[m] 1.142[deg]	[grasp_sample.py: 539]
-05/10 06:23:58 ERROR: [Worker 0] Worker 0 house 1 episode 76 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 06:24:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:24:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:24:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:24:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:24:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:24:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:24:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:24:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:24:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:24:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:24:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044987m	[env.py: 870]
-05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:24:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15851056  1.01333997 -0.04498682] yaw=-124.8deg	[env.py: 1019]
-05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.03650063  0.79887367 -0.04498682] yaw=-150.0deg	[env.py: 1019]
-05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.98384304  1.21804624 -0.04498682] yaw=-140.3deg	[env.py: 1019]
-05/10 06:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:24:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=431.7ms, total=431.7ms	[env.py: 1075]
-05/10 06:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.159, 1.013, -0.045)	[env.py: 1079]
-05/10 06:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.8 deg	[env.py: 1082]
-05/10 06:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m	[env.py: 1086]
-05/10 06:24:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:24:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:24:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:24:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:24:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:24:01 INFO: [Worker 0] Worker 0 house 1 episode 77/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:24:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:24:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:24:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:24:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:24:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.991s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:24:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.362[m] 92.245[deg]	[grasp_sample.py: 539]
-05/10 06:24:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:24:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:24:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:24:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:24:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:24:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:24:27 INFO: [Worker 0] Worker 0 house 1 episode 73 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:24:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:24:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:24:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:24:53 INFO: [Worker 0] Saved videos eagerly for episode 54 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:24:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 06:24:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:25:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:25:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:25:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.02s (batch: 4.07s, save: 7.95s)	[pipeline.py: 300]
-05/10 06:25:06 INFO: [Worker 0] [PROFILE] Episode 73 house 1 success=True episode_total=0.41s:
-  episode_total: mean=195.95s, total=195.95s, count=1, min=195952.5ms, max=195952.5ms
-  sensor_polling: mean=487.1ms, total=146.14s, count=300, min=404.6ms, max=853.4ms
-  save_trajectories: mean=7.95s, total=7.95s, count=1, min=7947.7ms, max=7947.7ms
-  physics_step: mean=22.9ms, total=6.88s, count=300, min=14.4ms, max=71.6ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4073.2ms, max=4073.2ms
-  task_sampling: mean=414.8ms, total=414.8ms, count=1, min=414.8ms, max=414.8ms
-  task_specific_sample: mean=411.0ms, total=411.0ms, count=1, min=411.0ms, max=411.0ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=401.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:25:07 INFO: [Worker 0] Worker 0 house 1 episode 74 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:25:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:25:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:25:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:25:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:25:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:25:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:25:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042998m	[env.py: 870]
-05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:25:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74224448  0.07868852  0.04299787] yaw=147.2deg	[env.py: 1019]
-05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.19357193  0.99990522  0.04299787] yaw=-141.9deg	[env.py: 1019]
-05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:25:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=155.4ms, total=155.4ms	[env.py: 1075]
-05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.742, 0.079, 0.043)	[env.py: 1079]
-05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.2 deg	[env.py: 1082]
-05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m	[env.py: 1086]
-05/10 06:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:25:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:25:08 INFO: [Worker 0] Worker 0 house 1 episode 74/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:25:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:25:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:25:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:25:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:25:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.588s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:25:09 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.602[m] 89.476[deg]	[grasp_sample.py: 539]
-05/10 06:25:10 INFO: [Worker 0] Worker 0 house 1 episode 73 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:25:10 ERROR: [Worker 0] Worker 0 house 1 episode 74 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 06:25:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:25:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:25:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:25:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:25:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:25:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:25:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:25:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:25:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:25:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:25:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046221m	[env.py: 870]
-05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:25:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8605924   0.357584   -0.04622053] yaw=170.3deg	[env.py: 1019]
-05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:25:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=234.6ms, total=234.6ms	[env.py: 1075]
-05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.861, 0.358, -0.046)	[env.py: 1079]
-05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.3 deg	[env.py: 1082]
-05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
-05/10 06:25:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:25:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:25:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:25:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:25:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:25:13 INFO: [Worker 0] Worker 0 house 1 episode 75/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:25:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:25:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:25:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:25:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:25:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.439s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:25:13 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.464[m] 97.228[deg]	[grasp_sample.py: 539]
-05/10 06:25:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:25:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:25:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:25:31 INFO: [Worker 0] Saved videos eagerly for episode 54 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:25:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 06:25:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:25:32 INFO: [Worker 0] Saved videos eagerly for episode 53 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:25:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 06:25:32 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
-05/10 06:25:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:25:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:25:43 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.74s (batch: 4.05s, save: 7.69s)	[pipeline.py: 300]
-05/10 06:25:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:25:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:25:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.50s (batch: 4.17s, save: 8.33s)	[pipeline.py: 300]
-05/10 06:25:44 INFO: [Worker 0] [PROFILE] Episode 73 house 1 success=True episode_total=0.38s:
-  episode_total: mean=183.30s, total=183.30s, count=1, min=183302.4ms, max=183302.4ms
-  sensor_polling: mean=493.1ms, total=138.07s, count=280, min=407.7ms, max=841.4ms
-  save_trajectories: mean=7.69s, total=7.69s, count=1, min=7691.4ms, max=7691.4ms
-  physics_step: mean=23.1ms, total=6.47s, count=280, min=13.9ms, max=65.3ms
-  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4047.7ms, max=4047.7ms
-  task_sampling: mean=381.4ms, total=381.4ms, count=1, min=381.4ms, max=381.4ms
-  task_specific_sample: mean=377.4ms, total=377.4ms, count=1, min=377.4ms, max=377.4ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=482.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:25:44 INFO: [Worker 0] [PROFILE] Episode 74 house 1 success=True episode_total=0.38s:
-  episode_total: mean=220.63s, total=220.63s, count=1, min=220633.8ms, max=220633.8ms
-  sensor_polling: mean=484.5ms, total=145.36s, count=300, min=407.0ms, max=973.1ms
-  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8332.9ms, max=8332.9ms
-  physics_step: mean=24.4ms, total=7.32s, count=300, min=13.9ms, max=75.7ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4168.2ms, max=4168.2ms
-  task_sampling: mean=375.9ms, total=375.9ms, count=1, min=375.9ms, max=375.9ms
-  task_specific_sample: mean=372.2ms, total=372.2ms, count=1, min=372.2ms, max=372.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=408.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:25:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:25:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:25:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:25:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:25:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:25:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:25:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:25:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:25:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043744m	[env.py: 870]
-05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:25:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 129.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83448637  0.39014251  0.04374406] yaw=177.7deg	[env.py: 1019]
-05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.92439647  0.94850185  0.04374406] yaw=-141.6deg	[env.py: 1019]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:25:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=259.2ms, total=259.2ms	[env.py: 1075]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.834, 0.390, 0.044)	[env.py: 1079]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.7 deg	[env.py: 1082]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m	[env.py: 1086]
-05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:25:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:25:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:25:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:25:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:25:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:25:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:25:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046432m	[env.py: 870]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:25:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70081092  0.35870164 -0.0464321 ] yaw=177.6deg	[env.py: 1019]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68611637  0.43471389 -0.0464321 ] yaw=172.7deg	[env.py: 1019]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95711382  1.08467407 -0.0464321 ] yaw=-132.7deg	[env.py: 1019]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:25:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=65.8ms, total=65.9ms	[env.py: 1075]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.701, 0.359, -0.046)	[env.py: 1079]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.6 deg	[env.py: 1082]
-05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m	[env.py: 1086]
-05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:25:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:25:46 INFO: [Worker 0] Worker 0 house 1 episode 74/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:25:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:25:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:25:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:25:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:25:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:25:46 INFO: [Worker 0] Worker 0 house 1 episode 75/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:25:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:25:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:25:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:25:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:25:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.426s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:25:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.415[m] 83.907[deg]	[grasp_sample.py: 539]
-05/10 06:25:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:25:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.540s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:25:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.599[m] 99.936[deg]	[grasp_sample.py: 539]
-05/10 06:25:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:25:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:25:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:25:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:25:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:26:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:26:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:26:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:26:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:26:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:26:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:26:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:26:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:26:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:26:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:26:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:26:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:26:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:26:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:26:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:26:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:26:26 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.572s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:26:26 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.312[deg]	[grasp_sample.py: 539]
-05/10 06:26:27 ERROR: [Worker 0] Worker 0 house 1 episode 77 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 06:26:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:26:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:26:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:26:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:26:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:26:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:26:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:26:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035883m	[env.py: 870]
-05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:26:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12551897  0.94246056  0.03588272] yaw=-152.0deg	[env.py: 1019]
-05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6487116   0.33022838  0.03588272] yaw=170.0deg	[env.py: 1019]
-05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64270207  0.47145889  0.03588272] yaw=184.2deg	[env.py: 1019]
-05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:26:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.3ms, total=143.3ms	[env.py: 1075]
-05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.126, 0.942, 0.036)	[env.py: 1079]
-05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.0 deg	[env.py: 1082]
-05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.738m	[env.py: 1086]
-05/10 06:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:26:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:26:29 INFO: [Worker 0] Worker 0 house 1 episode 78/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:26:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:26:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:26:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:26:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:26:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.989s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:26:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.306[m] 86.891[deg]	[grasp_sample.py: 539]
-05/10 06:26:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:26:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:26:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:26:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:26:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:26:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:27:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:27:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:27:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:27:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:27:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:27:52 INFO: [Worker 0] Worker 0 house 1 episode 75 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:28:15 INFO: [Worker 0] Saved videos eagerly for episode 55 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:28:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 06:28:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:28:21 INFO: [Worker 0] Worker 0 house 1 episode 75 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:28:26 INFO: [Worker 0] Worker 0 house 1 episode 74 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:28:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:28:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:28:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.97s (batch: 4.17s, save: 7.80s)	[pipeline.py: 300]
-05/10 06:28:28 INFO: [Worker 0] [PROFILE] Episode 75 house 1 success=True episode_total=0.88s:
-  episode_total: mean=99.54s, total=199.07s, count=2, min=3215.7ms, max=195855.8ms
-  sensor_polling: mean=484.9ms, total=145.48s, count=300, min=400.8ms, max=806.9ms
-  save_trajectories: mean=7.80s, total=7.80s, count=1, min=7796.3ms, max=7796.3ms
-  physics_step: mean=22.4ms, total=6.73s, count=300, min=14.5ms, max=65.5ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4169.2ms, max=4169.2ms
-  task_sampling: mean=441.6ms, total=883.3ms, count=2, min=416.3ms, max=466.9ms
-  task_specific_sample: mean=437.1ms, total=874.2ms, count=2, min=410.4ms, max=463.8ms
-  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.3ms, max=2.6ms
-  mj_forward_sync: mean=496.5us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:28:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:28:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:28:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:28:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:28:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:28:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:28:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:28:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:28:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003066m	[env.py: 870]
-05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:28:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89777398  0.71717746  0.00306634] yaw=-153.8deg	[env.py: 1019]
-05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83950595  0.49049324  0.00306634] yaw=-188.6deg	[env.py: 1019]
-05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.11418052  0.889132    0.00306634] yaw=-146.8deg	[env.py: 1019]
-05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:28:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.6ms, total=130.6ms	[env.py: 1075]
-05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.898, 0.717, 0.003)	[env.py: 1079]
-05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.8 deg	[env.py: 1082]
-05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
-05/10 06:28:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:28:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:28:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:28:30 INFO: [Worker 0] Worker 0 house 1 episode 76/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:28:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:28:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:28:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:28:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:28:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:28:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.400[m] 86.827[deg]	[grasp_sample.py: 539]
-05/10 06:28:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:28:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:28:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:28:42 INFO: [Worker 0] Saved videos eagerly for episode 55 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:28:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 06:28:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:28:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:28:49 INFO: [Worker 0] Saved videos eagerly for episode 54 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:28:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 06:28:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:28:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:28:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:28:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:28:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:28:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:28:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:28:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.90s (batch: 4.13s, save: 9.77s)	[pipeline.py: 300]
-05/10 06:28:56 INFO: [Worker 0] [PROFILE] Episode 75 house 1 success=True episode_total=0.38s:
-  episode_total: mean=190.75s, total=190.75s, count=1, min=190745.8ms, max=190745.8ms
-  sensor_polling: mean=478.0ms, total=143.39s, count=300, min=398.6ms, max=733.2ms
-  save_trajectories: mean=9.77s, total=9.77s, count=1, min=9769.5ms, max=9769.5ms
-  physics_step: mean=23.0ms, total=6.91s, count=300, min=13.8ms, max=61.0ms
-  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4130.4ms, max=4130.4ms
-  task_sampling: mean=379.4ms, total=379.4ms, count=1, min=379.4ms, max=379.4ms
-  task_specific_sample: mean=376.1ms, total=376.1ms, count=1, min=376.1ms, max=376.1ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=357.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:28:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:28:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:28:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:28:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:28:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:28:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:28:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:28:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:28:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:28:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:28:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:28:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002137m	[env.py: 870]
-05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:28:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07636212  0.84736859  0.00213669] yaw=-143.9deg	[env.py: 1019]
-05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67917451  0.27343467  0.00213669] yaw=168.1deg	[env.py: 1019]
-05/10 06:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73068489  0.38352745  0.00213669] yaw=179.1deg	[env.py: 1019]
-05/10 06:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:28:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=612.0ms, total=612.0ms	[env.py: 1075]
-05/10 06:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.076, 0.847, 0.002)	[env.py: 1079]
-05/10 06:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.9 deg	[env.py: 1082]
-05/10 06:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.725m	[env.py: 1086]
-05/10 06:28:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:28:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:28:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:28:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:28:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:28:59 INFO: [Worker 0] Worker 0 house 1 episode 76/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:28:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:28:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:28:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:28:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:29:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:29:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:29:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.310[m] 85.245[deg]	[grasp_sample.py: 539]
-05/10 06:29:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:29:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:29:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:29:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:29:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:29:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:29:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:29:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:29:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:29:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:29:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:29:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.70s (batch: 4.11s, save: 9.59s)	[pipeline.py: 300]
-05/10 06:29:04 INFO: [Worker 0] [PROFILE] Episode 74 house 1 success=True episode_total=0.54s:
-  episode_total: mean=198.39s, total=198.39s, count=1, min=198388.5ms, max=198388.5ms
-  sensor_polling: mean=485.5ms, total=145.64s, count=300, min=399.8ms, max=779.4ms
-  save_trajectories: mean=9.59s, total=9.59s, count=1, min=9586.4ms, max=9586.4ms
-  physics_step: mean=24.9ms, total=7.48s, count=300, min=14.3ms, max=75.9ms
-  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4109.3ms, max=4109.3ms
-  task_sampling: mean=537.3ms, total=537.3ms, count=1, min=537.3ms, max=537.3ms
-  task_specific_sample: mean=533.6ms, total=533.6ms, count=1, min=533.6ms, max=533.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=430.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:29:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:29:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:29:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:29:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:29:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:29:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:29:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:29:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:29:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043239m	[env.py: 870]
-05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:29:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74469996  0.46565274  0.0432389 ] yaw=176.5deg	[env.py: 1019]
-05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10493476  0.87269635  0.0432389 ] yaw=-151.6deg	[env.py: 1019]
-05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:29:06 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.601s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:29:06 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.373[deg]	[grasp_sample.py: 539]
-05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:29:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=510.0ms, total=510.0ms	[env.py: 1075]
-05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.745, 0.466, 0.043)	[env.py: 1079]
-05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.5 deg	[env.py: 1082]
-05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m	[env.py: 1086]
-05/10 06:29:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:29:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:29:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:29:06 INFO: [Worker 0] Worker 0 house 1 episode 75/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:29:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:29:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:29:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:29:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:29:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.159s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:29:08 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.491[m] 82.739[deg]	[grasp_sample.py: 539]
-05/10 06:29:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:29:08 ERROR: [Worker 0] Worker 0 house 1 episode 78 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 06:29:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:29:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:29:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:29:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:29:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:29:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:29:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:29:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:29:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:29:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:29:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037905m	[env.py: 870]
-05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:29:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9089321   1.050863    0.03790465] yaw=-134.0deg	[env.py: 1019]
-05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9951494   1.30710283  0.03790465] yaw=-123.2deg	[env.py: 1019]
-05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99803427  0.9910865   0.03790465] yaw=-139.3deg	[env.py: 1019]
-05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:29:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=342.1ms, total=342.2ms	[env.py: 1075]
-05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 1.051, 0.038)	[env.py: 1079]
-05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.0 deg	[env.py: 1082]
-05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
-05/10 06:29:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:29:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:29:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:29:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:29:11 INFO: [Worker 0] Worker 0 house 1 episode 79/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:29:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:29:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:29:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:29:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.142s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:29:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.851s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:29:15 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.613[m] 103.802[deg]	[grasp_sample.py: 539]
-05/10 06:29:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:29:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:29:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:29:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:29:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:29:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:29:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:29:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:30:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:30:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:30:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:30:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:30:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:30:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:31:09 INFO: [Worker 0] Worker 0 house 1 episode 76 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:31:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:31:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:31:28 INFO: [Worker 0] Saved videos eagerly for episode 56 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:31:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 06:31:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:31:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:31:28 INFO: [Worker 0] Worker 0 house 1 episode 76 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:31:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:31:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:31:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:31:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:31:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:31:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:31:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:31:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:31:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:31:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:31:36 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.356s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:31:36 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.405[deg]	[grasp_sample.py: 539]
-05/10 06:31:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:31:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:31:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:31:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:31:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:31:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.88s (batch: 4.03s, save: 7.85s)	[pipeline.py: 300]
-05/10 06:31:41 INFO: [Worker 0] [PROFILE] Episode 76 house 1 success=True episode_total=0.39s:
-  episode_total: mean=191.22s, total=191.22s, count=1, min=191215.9ms, max=191215.9ms
-  sensor_polling: mean=492.1ms, total=147.64s, count=300, min=395.2ms, max=943.6ms
-  save_trajectories: mean=7.85s, total=7.85s, count=1, min=7854.0ms, max=7854.0ms
-  physics_step: mean=22.8ms, total=6.85s, count=300, min=16.4ms, max=56.8ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4030.8ms, max=4030.8ms
-  task_sampling: mean=385.6ms, total=385.6ms, count=1, min=385.6ms, max=385.6ms
-  task_specific_sample: mean=382.0ms, total=382.0ms, count=1, min=382.0ms, max=382.0ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=445.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:31:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:31:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:31:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:31:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:31:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:31:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:31:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:31:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:31:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:31:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023046m	[env.py: 870]
-05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:31:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84240297  1.13009376 -0.02304599] yaw=-134.6deg	[env.py: 1019]
-05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04379838  0.2303742  -0.02304599] yaw=152.8deg	[env.py: 1019]
-05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88914302  1.12833244 -0.02304599] yaw=-147.0deg	[env.py: 1019]
-05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:31:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.1ms, total=118.1ms	[env.py: 1075]
-05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.842, 1.130, -0.023)	[env.py: 1079]
-05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.6 deg	[env.py: 1082]
-05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
-05/10 06:31:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:31:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:31:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:31:43 INFO: [Worker 0] Worker 0 house 1 episode 77/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:31:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:31:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:31:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:31:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:31:43 INFO: [Worker 0] Worker 0 house 1 episode 79 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:31:46 INFO: [Worker 0] Saved videos eagerly for episode 56 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:31:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 06:31:47 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
-05/10 06:31:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.517s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:31:47 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.660[m] 92.290[deg]	[grasp_sample.py: 539]
-05/10 06:31:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:31:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:31:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:31:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:31:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:31:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:31:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:31:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.08s (batch: 4.36s, save: 7.73s)	[pipeline.py: 300]
-05/10 06:31:59 INFO: [Worker 0] [PROFILE] Episode 76 house 1 success=True episode_total=0.88s:
-  episode_total: mean=181.09s, total=181.09s, count=1, min=181089.7ms, max=181089.7ms
-  sensor_polling: mean=488.0ms, total=138.09s, count=283, min=409.5ms, max=1005.5ms
-  save_trajectories: mean=7.73s, total=7.73s, count=1, min=7726.9ms, max=7726.9ms
-  physics_step: mean=22.4ms, total=6.35s, count=283, min=16.9ms, max=61.9ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4355.3ms, max=4355.3ms
-  task_sampling: mean=880.5ms, total=880.5ms, count=1, min=880.5ms, max=880.5ms
-  task_specific_sample: mean=873.0ms, total=873.0ms, count=1, min=873.0ms, max=873.0ms
-  mj_forward_sync: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:32:00 INFO: [Worker 0] Worker 0 house 1 episode 75 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:32:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:32:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:32:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:32:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:32:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:32:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:32:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:32:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:32:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048452m	[env.py: 870]
-05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:32:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71009405  0.14845041  0.04845212] yaw=154.4deg	[env.py: 1019]
-05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8240091   0.40258364  0.04845212] yaw=176.6deg	[env.py: 1019]
-05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02397061  0.81323728  0.04845212] yaw=-153.3deg	[env.py: 1019]
-05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:32:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.3ms, total=178.4ms	[env.py: 1075]
-05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.710, 0.148, 0.048)	[env.py: 1079]
-05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.4 deg	[env.py: 1082]
-05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
-05/10 06:32:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:32:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:32:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:32:01 INFO: [Worker 0] Worker 0 house 1 episode 77/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:32:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:32:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:32:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:32:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:32:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.759s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:32:05 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.662[m] 100.255[deg]	[grasp_sample.py: 539]
-05/10 06:32:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:32:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:32:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:32:06 INFO: [Worker 0] Saved videos eagerly for episode 51 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:32:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 06:32:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:32:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:32:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:32:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.59s (batch: 4.33s, save: 9.26s)	[pipeline.py: 300]
-05/10 06:32:21 INFO: [Worker 0] [PROFILE] Episode 79 house 1 success=True episode_total=2.40s:
-  episode_total: mean=154.80s, total=619.18s, count=4, min=122486.4ms, max=190568.2ms
-  sensor_polling: mean=468.0ms, total=482.04s, count=1030, min=369.1ms, max=920.2ms
-  physics_step: mean=22.1ms, total=22.80s, count=1030, min=14.3ms, max=80.0ms
-  save_trajectories: mean=9.26s, total=9.26s, count=1, min=9258.7ms, max=9258.7ms
-  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4329.5ms, max=4329.5ms
-  task_sampling: mean=599.6ms, total=2.40s, count=4, min=427.8ms, max=730.2ms
-  task_specific_sample: mean=595.5ms, total=2.38s, count=4, min=422.0ms, max=726.5ms
-  scene_randomize: mean=2.0ms, total=7.8ms, count=4, min=1.5ms, max=2.5ms
-  mj_forward_sync: mean=470.8us, total=1.9ms, count=4, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:32:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:32:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:32:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:32:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:32:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:32:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:32:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002250m	[env.py: 870]
-05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:32:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75796893  0.79061136  0.00224986] yaw=-172.5deg	[env.py: 1019]
-05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78845842  0.19699914  0.00224986] yaw=165.7deg	[env.py: 1019]
-05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88295673  0.05227532  0.00224986] yaw=157.9deg	[env.py: 1019]
-05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:32:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.3ms, total=137.3ms	[env.py: 1075]
-05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.758, 0.791, 0.002)	[env.py: 1079]
-05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.5 deg	[env.py: 1082]
-05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
-05/10 06:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:32:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:32:23 INFO: [Worker 0] Worker 0 house 1 episode 80/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:32:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:32:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:32:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:32:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:32:23 INFO: [Worker 0] Saved videos eagerly for episode 55 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:32:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 06:32:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:32:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.549s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:32:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.570[m] 90.661[deg]	[grasp_sample.py: 539]
-05/10 06:32:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:32:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:32:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:32:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:32:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:32:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.45s (batch: 4.03s, save: 9.42s)	[pipeline.py: 300]
-05/10 06:32:37 INFO: [Worker 0] [PROFILE] Episode 75 house 1 success=True episode_total=0.80s:
-  episode_total: mean=211.72s, total=211.72s, count=1, min=211720.8ms, max=211720.8ms
-  sensor_polling: mean=483.2ms, total=144.96s, count=300, min=398.1ms, max=834.5ms
-  save_trajectories: mean=9.42s, total=9.42s, count=1, min=9421.1ms, max=9421.1ms
-  physics_step: mean=24.2ms, total=7.27s, count=300, min=14.2ms, max=87.1ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4028.1ms, max=4028.1ms
-  task_sampling: mean=803.8ms, total=803.8ms, count=1, min=803.8ms, max=803.8ms
-  task_specific_sample: mean=784.7ms, total=784.7ms, count=1, min=784.7ms, max=784.7ms
-  scene_randomize: mean=16.4ms, total=16.4ms, count=1, min=16.4ms, max=16.4ms
-  mj_forward_sync: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
-  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:32:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:32:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:32:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:32:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:32:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:32:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:32:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040283m	[env.py: 870]
-05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:32:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73088165  0.66273374  0.04028262] yaw=-164.2deg	[env.py: 1019]
-05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11497242  1.14980639  0.04028262] yaw=-139.0deg	[env.py: 1019]
-05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90291587  0.96798092  0.04028262] yaw=-153.3deg	[env.py: 1019]
-05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:32:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.4ms, total=156.4ms	[env.py: 1075]
-05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.731, 0.663, 0.040)	[env.py: 1079]
-05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.2 deg	[env.py: 1082]
-05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
-05/10 06:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:32:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:32:39 INFO: [Worker 0] Worker 0 house 1 episode 76/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:32:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:32:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:32:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:32:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:32:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:32:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.524[m] 81.333[deg]	[grasp_sample.py: 539]
-05/10 06:32:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:32:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:32:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:32:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:33:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:33:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:33:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:33:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:33:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:33:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:33:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:33:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:33:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:33:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:33:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:34:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:34:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:34:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:34:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:34:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:34:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:34:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:34:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:34:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:34:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:34:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:34:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:34:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:34:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:34:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:34:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:34:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:34:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:34:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 84 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:34:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:34:26 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.461s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:34:26 INFO: [Worker 0] Feasible grasp found 160 (originally 45): w/ 0.153[m] 2.194[deg]	[grasp_sample.py: 539]
-05/10 06:34:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:34:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:34:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:34:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:34:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:34:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:34:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:34:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:34:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 72 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:34:28 INFO: [Worker 0] Feasibility-checked 72 grasps in 0.415s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:34:28 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.022[m] 2.100[deg]	[grasp_sample.py: 539]
-05/10 06:34:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:34:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:34:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:34:31 INFO: [Worker 0] Worker 0 house 1 episode 77 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:34:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:34:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:34:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:34:52 INFO: [Worker 0] Worker 0 house 1 episode 77 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 06:34:52 INFO: [Worker 0] [PROFILE] Episode 77 house 1 success=False episode_total=0.46s:
-  episode_total: mean=171.15s, total=171.15s, count=1, min=171146.3ms, max=171146.3ms
-  sensor_polling: mean=487.0ms, total=146.11s, count=300, min=407.3ms, max=921.3ms
-  physics_step: mean=21.6ms, total=6.48s, count=300, min=12.8ms, max=69.5ms
-  task_sampling: mean=463.3ms, total=463.3ms, count=1, min=463.3ms, max=463.3ms
-  task_specific_sample: mean=459.4ms, total=459.4ms, count=1, min=459.4ms, max=459.4ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=402.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:34:52 INFO: [Worker 0] Saved videos eagerly for episode 57 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:34:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 06:34:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:34:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:34:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:34:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:34:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:34:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:34:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:34:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:34:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:34:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012918m	[env.py: 870]
-05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:34:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06526064  0.14295832 -0.01291837] yaw=160.9deg	[env.py: 1019]
-05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07370971  0.92352236 -0.01291837] yaw=-154.8deg	[env.py: 1019]
-05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99838097  0.61259216 -0.01291837] yaw=-171.5deg	[env.py: 1019]
-05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:34:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=211.6ms, total=211.7ms	[env.py: 1075]
-05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.065, 0.143, -0.013)	[env.py: 1079]
-05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.9 deg	[env.py: 1082]
-05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.722m	[env.py: 1086]
-05/10 06:34:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:34:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:34:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:34:54 INFO: [Worker 0] Worker 0 house 1 episode 78/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:34:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:34:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:34:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:34:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:34:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.983s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:34:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.300[m] 91.925[deg]	[grasp_sample.py: 539]
-05/10 06:34:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:34:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:34:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:34:59 INFO: [Worker 0] Worker 0 house 1 episode 80 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:35:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:35:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:35:06 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.95s (batch: 4.90s, save: 9.05s)	[pipeline.py: 300]
-05/10 06:35:07 INFO: [Worker 0] [PROFILE] Episode 77 house 1 success=True episode_total=0.37s:
-  episode_total: mean=204.82s, total=204.82s, count=1, min=204818.5ms, max=204818.5ms
-  sensor_polling: mean=477.7ms, total=143.31s, count=300, min=382.2ms, max=1008.9ms
-  save_trajectories: mean=9.05s, total=9.05s, count=1, min=9049.3ms, max=9049.3ms
-  physics_step: mean=22.9ms, total=6.86s, count=300, min=16.7ms, max=56.4ms
-  save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4903.5ms, max=4903.5ms
-  task_sampling: mean=373.5ms, total=373.5ms, count=1, min=373.5ms, max=373.5ms
-  task_specific_sample: mean=370.2ms, total=370.2ms, count=1, min=370.2ms, max=370.2ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=387.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:35:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:35:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:35:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:35:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:35:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:35:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:35:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:35:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:35:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:35:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:35:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002860m	[env.py: 870]
-05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:35:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73551456  0.16235178 -0.00285958] yaw=153.8deg	[env.py: 1019]
-05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 127.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 132.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74587662  0.15328335 -0.00285958] yaw=164.7deg	[env.py: 1019]
-05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:35:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=152.1ms, total=152.2ms	[env.py: 1075]
-05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.736, 0.162, -0.003)	[env.py: 1079]
-05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.8 deg	[env.py: 1082]
-05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
-05/10 06:35:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:35:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:35:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:35:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:35:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:35:09 INFO: [Worker 0] Worker 0 house 1 episode 78/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:35:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:35:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:35:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:35:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:35:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.437s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:35:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.554[m] 86.082[deg]	[grasp_sample.py: 539]
-05/10 06:35:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:35:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:35:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:35:15 INFO: [Worker 0] Worker 0 house 1 episode 76 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:35:20 INFO: [Worker 0] Saved videos eagerly for episode 52 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:35:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 06:35:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:35:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:35:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:35:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:35:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:35:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.92s (batch: 4.47s, save: 10.45s)	[pipeline.py: 300]
-05/10 06:35:36 INFO: [Worker 0] [PROFILE] Episode 80 house 1 success=True episode_total=0.44s:
-  episode_total: mean=193.51s, total=193.51s, count=1, min=193515.0ms, max=193515.0ms
-  sensor_polling: mean=482.4ms, total=144.71s, count=300, min=406.5ms, max=954.6ms
-  save_trajectories: mean=10.45s, total=10.45s, count=1, min=10451.1ms, max=10451.1ms
-  physics_step: mean=22.2ms, total=6.67s, count=300, min=13.8ms, max=67.9ms
-  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4467.8ms, max=4467.8ms
-  task_sampling: mean=440.5ms, total=440.5ms, count=1, min=440.5ms, max=440.5ms
-  task_specific_sample: mean=436.9ms, total=436.9ms, count=1, min=436.9ms, max=436.9ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=386.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:35:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:35:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:35:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:35:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:35:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:35:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:35:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:35:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:35:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040559m	[env.py: 870]
-05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:35:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70181889  0.65530675  0.04055855] yaw=-164.7deg	[env.py: 1019]
-05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09907667  0.89329657  0.04055855] yaw=-153.6deg	[env.py: 1019]
-05/10 06:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97804932  0.53746002  0.04055855] yaw=-176.8deg	[env.py: 1019]
-05/10 06:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:35:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.3ms, total=149.4ms	[env.py: 1075]
-05/10 06:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.702, 0.655, 0.041)	[env.py: 1079]
-05/10 06:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.7 deg	[env.py: 1082]
-05/10 06:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m	[env.py: 1086]
-05/10 06:35:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:35:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:35:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:35:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:35:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:35:38 INFO: [Worker 0] Worker 0 house 1 episode 81/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:35:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:35:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:35:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:35:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:35:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:35:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.499s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:35:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.606[m] 97.163[deg]	[grasp_sample.py: 539]
-05/10 06:35:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:35:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:35:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:35:39 INFO: [Worker 0] Saved videos eagerly for episode 56 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:35:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 06:35:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:35:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:35:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:35:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.28s (batch: 3.68s, save: 7.61s)	[pipeline.py: 300]
-05/10 06:35:51 INFO: [Worker 0] [PROFILE] Episode 76 house 1 success=True episode_total=0.44s:
-  episode_total: mean=192.40s, total=192.40s, count=1, min=192401.8ms, max=192401.8ms
-  sensor_polling: mean=482.2ms, total=144.66s, count=300, min=387.7ms, max=1194.9ms
-  save_trajectories: mean=7.61s, total=7.61s, count=1, min=7605.5ms, max=7605.5ms
-  physics_step: mean=22.2ms, total=6.66s, count=300, min=17.0ms, max=74.8ms
-  save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3678.3ms, max=3678.3ms
-  task_sampling: mean=444.0ms, total=444.0ms, count=1, min=444.0ms, max=444.0ms
-  task_specific_sample: mean=440.9ms, total=440.9ms, count=1, min=440.9ms, max=440.9ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=388.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:35:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:35:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:35:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:35:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:35:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:35:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:35:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:35:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:35:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003322m	[env.py: 870]
-05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:35:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 126.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89639603  1.19995139 -0.00332167] yaw=-144.4deg	[env.py: 1019]
-05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9657609   1.07118412 -0.00332167] yaw=-147.0deg	[env.py: 1019]
-05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92227351  0.27148054 -0.00332167] yaw=176.3deg	[env.py: 1019]
-05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:35:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.7ms, total=135.7ms	[env.py: 1075]
-05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.896, 1.200, -0.003)	[env.py: 1079]
-05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.4 deg	[env.py: 1082]
-05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
-05/10 06:35:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:35:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:35:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:35:53 INFO: [Worker 0] Worker 0 house 1 episode 77/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:35:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:35:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:35:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:35:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:35:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.379s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:35:58 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.663[m] 85.327[deg]	[grasp_sample.py: 539]
-05/10 06:36:00 ERROR: [Worker 0] Worker 0 house 1 episode 77 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 06:36:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:36:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:36:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:36:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:36:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:36:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:36:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:36:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:36:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:36:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:36:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020336m	[env.py: 870]
-05/10 06:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:36:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80646422  0.63702745  0.02033597] yaw=-168.4deg	[env.py: 1019]
-05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00369802  1.30008114  0.02033597] yaw=-127.3deg	[env.py: 1019]
-05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03593531  1.07456031  0.02033597] yaw=-142.8deg	[env.py: 1019]
-05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:36:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=513.5ms, total=513.5ms	[env.py: 1075]
-05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.637, 0.020)	[env.py: 1079]
-05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.4 deg	[env.py: 1082]
-05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
-05/10 06:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:36:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:36:03 INFO: [Worker 0] Worker 0 house 1 episode 78/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:36:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:36:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:36:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:36:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:36:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.123s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:36:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.427[m] 77.088[deg]	[grasp_sample.py: 539]
-05/10 06:36:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:36:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:36:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:36:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:36:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:36:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:36:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:36:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:36:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:36:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:36:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:36:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:36:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:36:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:36:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:36:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:36:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:36:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:36:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:36:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:36:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:36:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:36:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:36:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:36:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:36:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:36:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 72 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:36:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:36:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:36:56 INFO: [Worker 0] Feasibility-checked 72 grasps in 0.837s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:36:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.040[m] 12.147[deg]	[grasp_sample.py: 539]
-05/10 06:36:58 ERROR: [Worker 0] Worker 0 house 1 episode 78 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 06:36:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:36:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:36:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:36:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:36:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:36:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:36:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:36:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:36:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025047m	[env.py: 870]
-05/10 06:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:36:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99672636  0.17519428 -0.02504744] yaw=165.8deg	[env.py: 1019]
-05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.13603245  0.97896335 -0.02504744] yaw=-128.7deg	[env.py: 1019]
-05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.65696299  0.75690808 -0.02504744] yaw=-166.8deg	[env.py: 1019]
-05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:37:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=347.9ms, total=348.0ms	[env.py: 1075]
-05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.997, 0.175, -0.025)	[env.py: 1079]
-05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.8 deg	[env.py: 1082]
-05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.769m	[env.py: 1086]
-05/10 06:37:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:37:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:37:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:37:00 INFO: [Worker 0] Worker 0 house 1 episode 79/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:37:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:37:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:37:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:37:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:37:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:37:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.794s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:37:01 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.386[m] 92.261[deg]	[grasp_sample.py: 539]
-05/10 06:37:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:37:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:37:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:37:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:37:46 INFO: [Worker 0] Worker 0 house 1 episode 78 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:37:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:37:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:38:09 INFO: [Worker 0] Saved videos eagerly for episode 58 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:38:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 06:38:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:38:10 INFO: [Worker 0] Worker 0 house 1 episode 81 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:38:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:38:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:38:21 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.37s (batch: 4.26s, save: 8.11s)	[pipeline.py: 300]
-05/10 06:38:22 INFO: [Worker 0] [PROFILE] Episode 78 house 1 success=True episode_total=0.40s:
-  episode_total: mean=193.51s, total=193.51s, count=1, min=193512.7ms, max=193512.7ms
-  sensor_polling: mean=480.9ms, total=144.26s, count=300, min=410.5ms, max=788.3ms
-  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8108.5ms, max=8108.5ms
-  physics_step: mean=24.4ms, total=7.33s, count=300, min=16.7ms, max=150.5ms
-  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4257.3ms, max=4257.3ms
-  task_sampling: mean=403.1ms, total=403.1ms, count=1, min=403.1ms, max=403.1ms
-  task_specific_sample: mean=399.7ms, total=399.7ms, count=1, min=399.7ms, max=399.7ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=379.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:38:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:38:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:38:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:38:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:38:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:38:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:38:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:38:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:38:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012538m	[env.py: 870]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:38:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8708919   0.27135706  0.01253838] yaw=165.9deg	[env.py: 1019]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82579328  1.10591958  0.01253838] yaw=-144.2deg	[env.py: 1019]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98139662  0.49476019  0.01253838] yaw=-188.9deg	[env.py: 1019]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:38:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.6ms, total=153.6ms	[env.py: 1075]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.271, 0.013)	[env.py: 1079]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.9 deg	[env.py: 1082]
-05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
-05/10 06:38:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:38:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:38:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:38:25 INFO: [Worker 0] Worker 0 house 1 episode 79/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:38:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:38:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:38:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:38:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:38:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.611s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:38:25 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.419[m] 88.334[deg]	[grasp_sample.py: 539]
-05/10 06:38:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:38:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:38:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:38:30 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 06:38:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:38:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:38:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:38:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:38:30 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.404s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:38:30 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.144[deg]	[grasp_sample.py: 539]
-05/10 06:38:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:38:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:38:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:38:31 INFO: [Worker 0] Saved videos eagerly for episode 53 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:38:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 06:38:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:38:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:38:37 INFO: [Worker 0] Worker 0 house 1 episode 78 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:38:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:38:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:38:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.97s (batch: 4.72s, save: 8.25s)	[pipeline.py: 300]
-05/10 06:38:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:38:45 INFO: [Worker 0] [PROFILE] Episode 81 house 1 success=True episode_total=0.40s:
-  episode_total: mean=187.89s, total=187.89s, count=1, min=187886.2ms, max=187886.2ms
-  sensor_polling: mean=469.6ms, total=140.87s, count=300, min=398.5ms, max=759.8ms
-  save_trajectories: mean=8.25s, total=8.25s, count=1, min=8247.4ms, max=8247.4ms
-  physics_step: mean=21.5ms, total=6.45s, count=300, min=16.6ms, max=55.5ms
-  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4723.9ms, max=4723.9ms
-  task_sampling: mean=401.6ms, total=401.6ms, count=1, min=401.6ms, max=401.6ms
-  task_specific_sample: mean=397.7ms, total=397.7ms, count=1, min=397.7ms, max=397.7ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=523.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:38:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:38:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:38:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:38:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:38:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:38:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:38:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:38:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:38:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020390m	[env.py: 870]
-05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:38:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70117674  0.09053375  0.02038996] yaw=168.0deg	[env.py: 1019]
-05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72515915  0.42295243  0.02038996] yaw=181.3deg	[env.py: 1019]
-05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77023066  0.89518762  0.02038996] yaw=-164.2deg	[env.py: 1019]
-05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:38:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=356.2ms, total=356.2ms	[env.py: 1075]
-05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.701, 0.091, 0.020)	[env.py: 1079]
-05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.0 deg	[env.py: 1082]
-05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m	[env.py: 1086]
-05/10 06:38:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:38:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:38:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:38:48 INFO: [Worker 0] Worker 0 house 1 episode 82/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:38:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:38:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:38:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:38:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:38:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:38:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.646s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:38:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.594[m] 82.214[deg]	[grasp_sample.py: 539]
-05/10 06:38:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:38:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:38:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:38:59 INFO: [Worker 0] Saved videos eagerly for episode 57 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:38:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 06:38:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:39:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:39:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:39:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:39:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.64s (batch: 4.19s, save: 10.45s)	[pipeline.py: 300]
-05/10 06:39:15 INFO: [Worker 0] [PROFILE] Episode 78 house 1 success=True episode_total=1.20s:
-  episode_total: mean=99.76s, total=199.52s, count=2, min=7205.4ms, max=192319.1ms
-  sensor_polling: mean=473.1ms, total=141.94s, count=300, min=409.7ms, max=727.2ms
-  save_trajectories: mean=10.45s, total=10.45s, count=1, min=10454.9ms, max=10454.9ms
-  physics_step: mean=22.1ms, total=6.62s, count=300, min=16.6ms, max=51.8ms
-  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4186.5ms, max=4186.5ms
-  task_sampling: mean=598.6ms, total=1.20s, count=2, min=393.1ms, max=804.2ms
-  task_specific_sample: mean=595.1ms, total=1.19s, count=2, min=389.2ms, max=801.0ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=508.1us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:39:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:39:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:39:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:39:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:39:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:39:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:39:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020188m	[env.py: 870]
-05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:39:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89169802  0.10024754 -0.02018771] yaw=159.3deg	[env.py: 1019]
-05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81583907  0.83782943 -0.02018771] yaw=-167.3deg	[env.py: 1019]
-05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0016761   0.62300879 -0.02018771] yaw=-177.2deg	[env.py: 1019]
-05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:39:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.2ms, total=84.2ms	[env.py: 1075]
-05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.100, -0.020)	[env.py: 1079]
-05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.3 deg	[env.py: 1082]
-05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
-05/10 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:39:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:39:16 INFO: [Worker 0] Worker 0 house 1 episode 79/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:39:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:39:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:39:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:39:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:39:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.638s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:39:17 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.475[m] 87.410[deg]	[grasp_sample.py: 539]
-05/10 06:39:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:39:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:39:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:39:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:39:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:39:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:39:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:39:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:39:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:39:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:39:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:39:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:39:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:39:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:39:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:39:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:39:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 74 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:39:33 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.766s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:39:33 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.026[m] 3.627[deg]	[grasp_sample.py: 539]
-05/10 06:39:35 ERROR: [Worker 0] Worker 0 house 1 episode 79 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 06:39:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:39:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:39:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:39:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:39:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:39:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:39:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043158m	[env.py: 870]
-05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:39:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8214601   0.55306893  0.04315799] yaw=-180.5deg	[env.py: 1019]
-05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93978681  0.07888472  0.04315799] yaw=156.3deg	[env.py: 1019]
-05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93439041  0.77466247  0.04315799] yaw=-161.6deg	[env.py: 1019]
-05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:39:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=234.0ms, total=234.1ms	[env.py: 1075]
-05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.821, 0.553, 0.043)	[env.py: 1079]
-05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.5 deg	[env.py: 1082]
-05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
-05/10 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:39:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:39:37 INFO: [Worker 0] Worker 0 house 1 episode 80/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:39:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:39:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:39:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:39:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:39:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.919s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:39:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.481[m] 100.946[deg]	[grasp_sample.py: 539]
-05/10 06:39:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:39:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:39:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:39:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:40:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:40:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:40:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:40:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:40:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:40:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:40:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:40:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:40:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:40:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:40:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:40:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:40:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:40:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:40:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:40:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:40:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:40:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:40:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:40:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:40:39 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.788s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:40:39 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.132[deg]	[grasp_sample.py: 539]
-05/10 06:40:41 ERROR: [Worker 0] Worker 0 house 1 episode 79 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 06:40:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:40:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:40:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:40:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:40:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:40:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:40:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:40:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:40:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:40:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:40:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:40:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011852m	[env.py: 870]
-05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:40:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71020805  0.26384833  0.01185201] yaw=170.9deg	[env.py: 1019]
-05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99711137  0.53141996  0.01185201] yaw=-165.5deg	[env.py: 1019]
-05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93696449  0.27309846  0.01185201] yaw=166.0deg	[env.py: 1019]
-05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:40:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.7ms, total=126.7ms	[env.py: 1075]
-05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.710, 0.264, 0.012)	[env.py: 1079]
-05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.9 deg	[env.py: 1082]
-05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
-05/10 06:40:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:40:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:40:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:40:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:40:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:40:44 INFO: [Worker 0] Worker 0 house 1 episode 80/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:40:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:40:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:40:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:40:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:40:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.833s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:40:45 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.544[m] 83.814[deg]	[grasp_sample.py: 539]
-05/10 06:40:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:40:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:40:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:41:28 INFO: [Worker 0] Worker 0 house 1 episode 82 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:41:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:41:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:41:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:41:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:41:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:41:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:41:50 INFO: [Worker 0] Saved videos eagerly for episode 54 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:41:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 06:41:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:41:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:41:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:41:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:41:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:41:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:41:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:41:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:41:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:41:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:41:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:41:55 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.364s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:41:55 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.157[deg]	[grasp_sample.py: 539]
-05/10 06:41:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:41:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:41:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:42:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:42:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:42:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:42:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.35s (batch: 4.02s, save: 8.33s)	[pipeline.py: 300]
-05/10 06:42:03 INFO: [Worker 0] [PROFILE] Episode 82 house 1 success=True episode_total=0.64s:
-  episode_total: mean=196.20s, total=196.20s, count=1, min=196201.6ms, max=196201.6ms
-  sensor_polling: mean=482.6ms, total=144.77s, count=300, min=405.1ms, max=877.1ms
-  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8327.9ms, max=8327.9ms
-  physics_step: mean=23.9ms, total=7.17s, count=300, min=16.6ms, max=65.1ms
-  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4023.6ms, max=4023.6ms
-  task_sampling: mean=638.6ms, total=638.6ms, count=1, min=638.6ms, max=638.6ms
-  task_specific_sample: mean=634.5ms, total=634.5ms, count=1, min=634.5ms, max=634.5ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=483.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:42:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:42:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:42:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:42:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:42:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:42:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:42:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:42:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:42:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.032m, effective arm-mount z=0.828m (base_body_z=-0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032393m	[env.py: 870]
-05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:42:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83564042  0.69004512 -0.03239324] yaw=-171.8deg	[env.py: 1019]
-05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9606583   0.68464109 -0.03239324] yaw=-156.3deg	[env.py: 1019]
-05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:42:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=160.4ms, total=160.4ms	[env.py: 1075]
-05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.836, 0.690, -0.032)	[env.py: 1079]
-05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.8 deg	[env.py: 1082]
-05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
-05/10 06:42:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:42:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:42:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:42:05 INFO: [Worker 0] Worker 0 house 1 episode 83/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:42:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:42:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:42:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:42:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:42:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.436s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:42:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.430[m] 82.823[deg]	[grasp_sample.py: 539]
-05/10 06:42:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:42:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:42:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:42:08 INFO: [Worker 0] Worker 0 house 1 episode 80 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:42:10 INFO: [Worker 0] Worker 0 house 1 episode 79 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:42:30 INFO: [Worker 0] Saved videos eagerly for episode 58 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:42:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 06:42:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:42:30 INFO: [Worker 0] Saved videos eagerly for episode 57 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:42:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 06:42:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:42:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:42:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:42:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.38s (batch: 3.92s, save: 7.47s)	[pipeline.py: 300]
-05/10 06:42:42 INFO: [Worker 0] [PROFILE] Episode 79 house 1 success=True episode_total=0.36s:
-  episode_total: mean=205.86s, total=205.86s, count=1, min=205864.9ms, max=205864.9ms
-  sensor_polling: mean=478.8ms, total=143.64s, count=300, min=408.0ms, max=929.8ms
-  save_trajectories: mean=7.47s, total=7.47s, count=1, min=7465.1ms, max=7465.1ms
-  physics_step: mean=22.1ms, total=6.64s, count=300, min=14.0ms, max=102.4ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3917.9ms, max=3917.9ms
-  task_sampling: mean=356.8ms, total=356.8ms, count=1, min=356.8ms, max=356.8ms
-  task_specific_sample: mean=353.2ms, total=353.2ms, count=1, min=353.2ms, max=353.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=426.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:42:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:42:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:42:42 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.75s (batch: 3.82s, save: 7.92s)	[pipeline.py: 300]
-05/10 06:42:43 INFO: [Worker 0] [PROFILE] Episode 80 house 1 success=True episode_total=1.61s:
-  episode_total: mean=155.12s, total=465.35s, count=3, min=123632.3ms, max=186182.5ms
-  sensor_polling: mean=470.0ms, total=346.87s, count=738, min=389.2ms, max=979.4ms
-  physics_step: mean=22.5ms, total=16.62s, count=738, min=15.2ms, max=88.8ms
-  save_trajectories: mean=7.92s, total=7.92s, count=1, min=7922.3ms, max=7922.3ms
-  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3823.7ms, max=3823.7ms
-  task_sampling: mean=535.6ms, total=1.61s, count=3, min=477.6ms, max=649.5ms
-  task_specific_sample: mean=530.2ms, total=1.59s, count=3, min=468.6ms, max=645.5ms
-  scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.3ms, max=2.0ms
-  mj_forward_sync: mean=447.9us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:42:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:42:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:42:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:42:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:42:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:42:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:42:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:42:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:42:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006626m	[env.py: 870]
-05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:42:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 132.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79265124  0.31213097  0.00662562] yaw=173.0deg	[env.py: 1019]
-05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95934478  0.62828716  0.00662562] yaw=-161.0deg	[env.py: 1019]
-05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:42:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=441.2ms, total=441.3ms	[env.py: 1075]
-05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.793, 0.312, 0.007)	[env.py: 1079]
-05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.0 deg	[env.py: 1082]
-05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
-05/10 06:42:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:42:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:42:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:42:45 INFO: [Worker 0] Worker 0 house 1 episode 80/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:42:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:42:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:42:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:42:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:42:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:42:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:42:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:42:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:42:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:42:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:42:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:42:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:42:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043304m	[env.py: 870]
-05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:42:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78956908  0.33352073 -0.04330387] yaw=181.6deg	[env.py: 1019]
-05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00014666  0.70812025 -0.04330387] yaw=-162.5deg	[env.py: 1019]
-05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69151127  0.89193224 -0.04330387] yaw=-166.2deg	[env.py: 1019]
-05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:42:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.1ms, total=128.1ms	[env.py: 1075]
-05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.790, 0.334, -0.043)	[env.py: 1079]
-05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.6 deg	[env.py: 1082]
-05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
-05/10 06:42:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:42:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:42:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:42:45 INFO: [Worker 0] Worker 0 house 1 episode 81/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:42:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.796s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:42:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.449[m] 78.707[deg]	[grasp_sample.py: 539]
-05/10 06:42:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:42:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:42:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:42:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:42:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:42:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:42:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:42:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:42:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.745s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:42:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.494[m] 92.823[deg]	[grasp_sample.py: 539]
-05/10 06:42:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:42:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:42:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:42:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:43:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:43:20 INFO: [Worker 0] Worker 0 house 1 episode 80 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:43:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:43:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:43:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:43:43 INFO: [Worker 0] Saved videos eagerly for episode 59 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:43:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 06:43:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:43:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:43:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:43:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:43:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:43:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:43:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.72s (batch: 4.02s, save: 7.71s)	[pipeline.py: 300]
-05/10 06:43:55 INFO: [Worker 0] [PROFILE] Episode 80 house 1 success=True episode_total=0.84s:
-  episode_total: mean=164.71s, total=329.43s, count=2, min=137254.8ms, max=192171.3ms
-  sensor_polling: mean=473.1ms, total=247.42s, count=523, min=385.6ms, max=895.4ms
-  physics_step: mean=22.0ms, total=11.53s, count=523, min=13.9ms, max=78.4ms
-  save_trajectories: mean=7.71s, total=7.71s, count=1, min=7706.1ms, max=7706.1ms
-  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4017.8ms, max=4017.8ms
-  task_sampling: mean=417.7ms, total=835.4ms, count=2, min=382.2ms, max=453.2ms
-  task_specific_sample: mean=414.0ms, total=828.0ms, count=2, min=379.3ms, max=448.7ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.2ms, max=2.9ms
-  mj_forward_sync: mean=463.8us, total=0.9ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=18.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:43:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:43:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:43:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:43:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:43:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:43:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:43:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:43:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:43:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014801m	[env.py: 870]
-05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:43:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91285917  0.6283346  -0.0148015 ] yaw=-158.9deg	[env.py: 1019]
-05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76614309  0.52460541 -0.0148015 ] yaw=-179.8deg	[env.py: 1019]
-05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64899519  0.2700138  -0.0148015 ] yaw=179.0deg	[env.py: 1019]
-05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:43:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.4ms, total=81.5ms	[env.py: 1075]
-05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.913, 0.628, -0.015)	[env.py: 1079]
-05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.9 deg	[env.py: 1082]
-05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
-05/10 06:43:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:43:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:43:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:43:57 INFO: [Worker 0] Worker 0 house 1 episode 81/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:43:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:43:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:43:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:43:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:43:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.463s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:43:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.405[m] 98.663[deg]	[grasp_sample.py: 539]
-05/10 06:43:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:43:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:43:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:44:38 INFO: [Worker 0] Worker 0 house 1 episode 83 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:44:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:44:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:44:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:45:02 INFO: [Worker 0] Saved videos eagerly for episode 55 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:45:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 06:45:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:45:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:45:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:45:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.00s (batch: 5.18s, save: 10.82s)	[pipeline.py: 300]
-05/10 06:45:19 INFO: [Worker 0] [PROFILE] Episode 83 house 1 success=True episode_total=0.41s:
-  episode_total: mean=193.82s, total=193.82s, count=1, min=193816.4ms, max=193816.4ms
-  sensor_polling: mean=473.5ms, total=142.05s, count=300, min=398.0ms, max=881.2ms
-  save_trajectories: mean=10.82s, total=10.82s, count=1, min=10821.1ms, max=10821.1ms
-  physics_step: mean=21.8ms, total=6.53s, count=300, min=13.9ms, max=91.3ms
-  save_batch_prep: mean=5.18s, total=5.18s, count=1, min=5179.7ms, max=5179.7ms
-  task_sampling: mean=414.9ms, total=414.9ms, count=1, min=414.9ms, max=414.9ms
-  task_specific_sample: mean=411.6ms, total=411.6ms, count=1, min=411.6ms, max=411.6ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=372.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:45:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:45:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:45:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:45:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:45:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:45:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:45:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040370m	[env.py: 870]
-05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:45:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92782122  1.0069993  -0.04036956] yaw=-139.3deg	[env.py: 1019]
-05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03555654  0.21928326 -0.04036956] yaw=160.0deg	[env.py: 1019]
-05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68292398  0.29905423 -0.04036956] yaw=160.4deg	[env.py: 1019]
-05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:45:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.0ms, total=175.1ms	[env.py: 1075]
-05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.928, 1.007, -0.040)	[env.py: 1079]
-05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.3 deg	[env.py: 1082]
-05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
-05/10 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:45:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:45:21 INFO: [Worker 0] Worker 0 house 1 episode 84/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:45:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:45:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:45:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:45:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:45:21 INFO: [Worker 0] Worker 0 house 1 episode 81 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:45:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.546s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:45:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.498[m] 87.369[deg]	[grasp_sample.py: 539]
-05/10 06:45:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:45:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:45:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:45:25 INFO: [Worker 0] Worker 0 house 1 episode 80 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:45:44 INFO: [Worker 0] Saved videos eagerly for episode 58 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:45:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 06:45:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:45:46 INFO: [Worker 0] Saved videos eagerly for episode 59 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:45:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 06:45:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:45:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:45:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:45:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.82s (batch: 4.21s, save: 9.61s)	[pipeline.py: 300]
-05/10 06:45:58 INFO: [Worker 0] [PROFILE] Episode 81 house 1 success=True episode_total=0.39s:
-  episode_total: mean=193.25s, total=193.25s, count=1, min=193245.2ms, max=193245.2ms
-  sensor_polling: mean=479.8ms, total=143.94s, count=300, min=403.0ms, max=927.7ms
-  save_trajectories: mean=9.61s, total=9.61s, count=1, min=9608.2ms, max=9608.2ms
-  physics_step: mean=23.4ms, total=7.01s, count=300, min=16.4ms, max=67.2ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4213.8ms, max=4213.8ms
-  task_sampling: mean=393.2ms, total=393.2ms, count=1, min=393.2ms, max=393.2ms
-  task_specific_sample: mean=389.0ms, total=389.0ms, count=1, min=389.0ms, max=389.0ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=445.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:45:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:45:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:45:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.04s (batch: 4.31s, save: 8.72s)	[pipeline.py: 300]
-05/10 06:46:00 INFO: [Worker 0] [PROFILE] Episode 80 house 1 success=True episode_total=0.76s:
-  episode_total: mean=196.15s, total=196.15s, count=1, min=196145.1ms, max=196145.1ms
-  sensor_polling: mean=478.0ms, total=143.40s, count=300, min=405.3ms, max=877.8ms
-  save_trajectories: mean=8.72s, total=8.72s, count=1, min=8724.8ms, max=8724.8ms
-  physics_step: mean=24.2ms, total=7.25s, count=300, min=16.9ms, max=61.6ms
-  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4312.3ms, max=4312.3ms
-  task_sampling: mean=759.0ms, total=759.0ms, count=1, min=759.0ms, max=759.0ms
-  task_specific_sample: mean=755.0ms, total=755.0ms, count=1, min=755.0ms, max=755.0ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=470.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:46:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:46:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:46:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:46:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:46:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:46:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:46:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:46:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:46:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.029046m	[env.py: 870]
-05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:46:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87771211  0.19003719 -0.02904612] yaw=153.9deg	[env.py: 1019]
-05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1455496   1.05616479 -0.02904612] yaw=-141.4deg	[env.py: 1019]
-05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9009074   0.86318513 -0.02904612] yaw=-148.4deg	[env.py: 1019]
-05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:46:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.4ms, total=220.4ms	[env.py: 1075]
-05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.878, 0.190, -0.029)	[env.py: 1079]
-05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.9 deg	[env.py: 1082]
-05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
-05/10 06:46:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:46:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:46:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:46:01 INFO: [Worker 0] Worker 0 house 1 episode 82/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:46:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:46:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:46:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:46:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:46:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:46:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:46:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:46:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:46:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:46:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:46:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:46:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:46:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043098m	[env.py: 870]
-05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:46:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:46:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.860s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:46:02 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.469[m] 92.312[deg]	[grasp_sample.py: 539]
-05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:46:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78278637  1.03135301  0.04309768] yaw=-149.4deg	[env.py: 1019]
-05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81380212  1.03402067  0.04309768] yaw=-140.1deg	[env.py: 1019]
-05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84479271  0.40963577  0.04309768] yaw=180.9deg	[env.py: 1019]
-05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:46:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=243.1ms, total=243.1ms	[env.py: 1075]
-05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.783, 1.031, 0.043)	[env.py: 1079]
-05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.4 deg	[env.py: 1082]
-05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m	[env.py: 1086]
-05/10 06:46:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:46:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:46:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:46:02 INFO: [Worker 0] Worker 0 house 1 episode 81/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:46:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:46:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:46:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:46:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:46:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:46:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:46:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.539s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:46:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.624[m] 82.760[deg]	[grasp_sample.py: 539]
-05/10 06:46:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:46:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:46:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:46:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:46:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:46:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:46:33 INFO: [Worker 0] Worker 0 house 1 episode 81 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:46:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:46:54 INFO: [Worker 0] Saved videos eagerly for episode 60 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:46:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 06:46:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:46:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:47:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:47:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:47:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:47:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:47:06 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.92s (batch: 4.45s, save: 7.47s)	[pipeline.py: 300]
-05/10 06:47:07 INFO: [Worker 0] [PROFILE] Episode 81 house 1 success=True episode_total=0.33s:
-  episode_total: mean=189.82s, total=189.82s, count=1, min=189815.9ms, max=189815.9ms
-  sensor_polling: mean=482.3ms, total=144.70s, count=300, min=397.7ms, max=898.3ms
-  save_trajectories: mean=7.47s, total=7.47s, count=1, min=7473.7ms, max=7473.7ms
-  physics_step: mean=22.5ms, total=6.75s, count=300, min=14.0ms, max=53.5ms
-  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4445.3ms, max=4445.3ms
-  task_sampling: mean=329.8ms, total=329.8ms, count=1, min=329.8ms, max=329.8ms
-  task_specific_sample: mean=326.3ms, total=326.3ms, count=1, min=326.3ms, max=326.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=392.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:47:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:47:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:47:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:47:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:47:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:47:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:47:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045057m	[env.py: 870]
-05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:47:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.83548742  0.51170399  0.04505699] yaw=-182.9deg	[env.py: 1019]
-05/10 06:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91510433  0.96688608  0.04505699] yaw=-149.5deg	[env.py: 1019]
-05/10 06:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:47:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=189.1ms, total=189.2ms	[env.py: 1075]
-05/10 06:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.835, 0.512, 0.045)	[env.py: 1079]
-05/10 06:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.9 deg	[env.py: 1082]
-05/10 06:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m	[env.py: 1086]
-05/10 06:47:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:47:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:47:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:47:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:47:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:47:09 INFO: [Worker 0] Worker 0 house 1 episode 82/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:47:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:47:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:47:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:47:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:47:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.472s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:47:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.461[m] 97.313[deg]	[grasp_sample.py: 539]
-05/10 06:47:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:47:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:47:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:47:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:47:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:47:51 INFO: [Worker 0] Worker 0 house 1 episode 84 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:47:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:48:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:48:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:48:15 INFO: [Worker 0] Saved videos eagerly for episode 56 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:48:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 06:48:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:48:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:48:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:48:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:48:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:48:29 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.98s (batch: 4.19s, save: 9.79s)	[pipeline.py: 300]
-05/10 06:48:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:48:30 INFO: [Worker 0] [PROFILE] Episode 84 house 1 success=True episode_total=0.45s:
-  episode_total: mean=189.37s, total=189.37s, count=1, min=189369.1ms, max=189369.1ms
-  sensor_polling: mean=463.1ms, total=138.93s, count=300, min=387.4ms, max=883.5ms
-  save_trajectories: mean=9.79s, total=9.79s, count=1, min=9786.7ms, max=9786.7ms
-  physics_step: mean=22.0ms, total=6.59s, count=300, min=16.7ms, max=56.2ms
-  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4192.8ms, max=4192.8ms
-  task_sampling: mean=449.1ms, total=449.1ms, count=1, min=449.1ms, max=449.1ms
-  task_specific_sample: mean=445.7ms, total=445.7ms, count=1, min=445.7ms, max=445.7ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=373.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:48:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:48:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:48:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:48:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:48:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:48:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:48:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:48:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:48:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:48:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:48:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:48:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:48:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:48:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:48:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:48:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029219m	[env.py: 870]
-05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:48:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00190909  0.75290157  0.02921882] yaw=-149.9deg	[env.py: 1019]
-05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89321284  0.23927822  0.02921882] yaw=154.1deg	[env.py: 1019]
-05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:48:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=193.3ms, total=193.3ms	[env.py: 1075]
-05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.002, 0.753, 0.029)	[env.py: 1079]
-05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.9 deg	[env.py: 1082]
-05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m	[env.py: 1086]
-05/10 06:48:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:48:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:48:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:48:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:48:31 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.540s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:48:31 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.168[deg]	[grasp_sample.py: 539]
-05/10 06:48:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:48:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:48:31 INFO: [Worker 0] Worker 0 house 1 episode 85/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:48:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:48:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:48:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:48:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:48:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:48:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:48:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.536s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:48:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.353[m] 94.677[deg]	[grasp_sample.py: 539]
-05/10 06:48:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:48:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:48:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:48:34 INFO: [Worker 0] Worker 0 house 1 episode 81 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:48:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:48:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:48:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:48:54 INFO: [Worker 0] Worker 0 house 1 episode 82 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:49:00 INFO: [Worker 0] Saved videos eagerly for episode 60 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:49:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 06:49:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:49:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:49:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:49:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:49:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.43s (batch: 3.99s, save: 9.44s)	[pipeline.py: 300]
-05/10 06:49:14 INFO: [Worker 0] [PROFILE] Episode 81 house 1 success=True episode_total=0.55s:
-  episode_total: mean=192.28s, total=192.28s, count=1, min=192280.2ms, max=192280.2ms
-  sensor_polling: mean=465.5ms, total=139.65s, count=300, min=401.0ms, max=801.9ms
-  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9437.4ms, max=9437.4ms
-  physics_step: mean=21.7ms, total=6.50s, count=300, min=16.6ms, max=47.3ms
-  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3992.6ms, max=3992.6ms
-  task_sampling: mean=550.2ms, total=550.2ms, count=1, min=550.2ms, max=550.2ms
-  task_specific_sample: mean=546.2ms, total=546.2ms, count=1, min=546.2ms, max=546.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=429.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:49:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:49:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:49:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:49:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:49:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:49:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:49:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:49:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:49:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002323m	[env.py: 870]
-05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:49:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79718707  1.01368041 -0.00232322] yaw=-138.6deg	[env.py: 1019]
-05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02821656  0.26133154 -0.00232322] yaw=167.4deg	[env.py: 1019]
-05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.6451918   0.5292662  -0.00232322] yaw=-176.3deg	[env.py: 1019]
-05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:49:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.0ms, total=80.0ms	[env.py: 1075]
-05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.797, 1.014, -0.002)	[env.py: 1079]
-05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.6 deg	[env.py: 1082]
-05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
-05/10 06:49:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:49:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:49:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:49:16 INFO: [Worker 0] Worker 0 house 1 episode 82/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:49:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:49:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:49:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:49:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:49:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:49:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.808s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:49:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.582[m] 80.491[deg]	[grasp_sample.py: 539]
-05/10 06:49:19 ERROR: [Worker 0] Worker 0 house 1 episode 82 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 06:49:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:49:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:49:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:49:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:49:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:49:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:49:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:49:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:49:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014213m	[env.py: 870]
-05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:49:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93220755  1.09896122 -0.01421254] yaw=-146.6deg	[env.py: 1019]
-05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.753702    0.81811377 -0.01421254] yaw=-155.5deg	[env.py: 1019]
-05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08389837  1.02823231 -0.01421254] yaw=-143.8deg	[env.py: 1019]
-05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:49:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.8ms, total=153.8ms	[env.py: 1075]
-05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, 1.099, -0.014)	[env.py: 1079]
-05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.6 deg	[env.py: 1082]
-05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
-05/10 06:49:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:49:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:49:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:49:22 INFO: [Worker 0] Worker 0 house 1 episode 83/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:49:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:49:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:49:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:49:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:49:22 INFO: [Worker 0] Saved videos eagerly for episode 59 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:49:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 06:49:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:49:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:49:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.298s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:49:26 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.581[m] 91.172[deg]	[grasp_sample.py: 539]
-05/10 06:49:27 ERROR: [Worker 0] Worker 0 house 1 episode 83 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 06:49:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:49:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:49:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:49:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:49:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:49:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:49:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013561m	[env.py: 870]
-05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:49:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08481844  0.94119996  0.01356128] yaw=-135.5deg	[env.py: 1019]
-05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96679279  0.60862346  0.01356128] yaw=-161.6deg	[env.py: 1019]
-05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75185462 -0.01213246  0.01356128] yaw=161.0deg	[env.py: 1019]
-05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:49:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.0ms, total=144.0ms	[env.py: 1075]
-05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.085, 0.941, 0.014)	[env.py: 1079]
-05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.5 deg	[env.py: 1082]
-05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.770m	[env.py: 1086]
-05/10 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:49:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:49:29 INFO: [Worker 0] Worker 0 house 1 episode 84/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:49:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:49:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:49:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:49:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:49:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.569s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:49:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.379[m] 93.759[deg]	[grasp_sample.py: 539]
-05/10 06:49:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:49:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:49:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:49:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:49:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:49:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.26s (batch: 4.82s, save: 8.44s)	[pipeline.py: 300]
-05/10 06:49:36 INFO: [Worker 0] [PROFILE] Episode 82 house 1 success=True episode_total=0.55s:
-  episode_total: mean=215.80s, total=215.80s, count=1, min=215797.7ms, max=215797.7ms
-  sensor_polling: mean=480.5ms, total=144.15s, count=300, min=410.8ms, max=759.2ms
-  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8438.9ms, max=8438.9ms
-  physics_step: mean=21.6ms, total=6.47s, count=300, min=15.8ms, max=34.9ms
-  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4816.2ms, max=4816.2ms
-  task_sampling: mean=548.6ms, total=548.6ms, count=1, min=548.6ms, max=548.6ms
-  task_specific_sample: mean=544.5ms, total=544.5ms, count=1, min=544.5ms, max=544.5ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=525.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=14.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:49:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:49:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:49:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:49:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:49:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:49:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:49:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:49:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:49:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:49:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:49:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004153m	[env.py: 870]
-05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:49:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98614736  0.38114498  0.00415346] yaw=166.9deg	[env.py: 1019]
-05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08301213  0.86295182  0.00415346] yaw=-153.9deg	[env.py: 1019]
-05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05121667  0.19993425  0.00415346] yaw=154.9deg	[env.py: 1019]
-05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:49:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=455.0ms, total=455.0ms	[env.py: 1075]
-05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.986, 0.381, 0.004)	[env.py: 1079]
-05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.9 deg	[env.py: 1082]
-05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.723m	[env.py: 1086]
-05/10 06:49:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:49:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:49:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:49:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:49:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:49:38 INFO: [Worker 0] Worker 0 house 1 episode 83/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:49:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:49:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:49:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:49:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:49:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.001s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:49:40 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.274[m] 89.921[deg]	[grasp_sample.py: 539]
-05/10 06:49:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:49:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:49:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:49:45 INFO: [Worker 0] Worker 0 house 1 episode 82 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:50:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:50:08 INFO: [Worker 0] Saved videos eagerly for episode 61 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:50:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 06:50:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:50:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:50:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:50:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:50:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:50:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:50:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.70s (batch: 4.00s, save: 7.70s)	[pipeline.py: 300]
-05/10 06:50:20 INFO: [Worker 0] [PROFILE] Episode 82 house 1 success=True episode_total=0.49s:
-  episode_total: mean=191.54s, total=191.54s, count=1, min=191538.7ms, max=191538.7ms
-  sensor_polling: mean=479.4ms, total=143.83s, count=300, min=404.1ms, max=858.7ms
-  save_trajectories: mean=7.70s, total=7.70s, count=1, min=7695.7ms, max=7695.7ms
-  physics_step: mean=22.8ms, total=6.85s, count=300, min=14.3ms, max=55.4ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4000.1ms, max=4000.1ms
-  task_sampling: mean=492.0ms, total=492.0ms, count=1, min=492.0ms, max=492.0ms
-  task_specific_sample: mean=487.5ms, total=487.5ms, count=1, min=487.5ms, max=487.5ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=579.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:50:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:50:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:50:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:50:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:50:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:50:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:50:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:50:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:50:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:50:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:50:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:50:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:50:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047750m	[env.py: 870]
-05/10 06:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:50:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85479703  0.3311793   0.04774962] yaw=158.6deg	[env.py: 1019]
-05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81654759  0.75241055  0.04774962] yaw=-173.3deg	[env.py: 1019]
-05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85792239  0.19458369  0.04774962] yaw=157.0deg	[env.py: 1019]
-05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:50:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.2ms, total=120.3ms	[env.py: 1075]
-05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.331, 0.048)	[env.py: 1079]
-05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.6 deg	[env.py: 1082]
-05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
-05/10 06:50:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:50:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:50:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:50:22 INFO: [Worker 0] Worker 0 house 1 episode 83/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:50:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:50:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:50:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:50:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:50:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.456s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:50:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.431[m] 89.202[deg]	[grasp_sample.py: 539]
-05/10 06:50:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:50:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:50:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:51:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:51:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:51:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:51:04 INFO: [Worker 0] Worker 0 house 1 episode 85 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:51:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:51:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:51:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:51:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:51:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:51:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:51:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:51:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:51:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:51:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:51:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:51:14 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.834s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:51:14 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.188[deg]	[grasp_sample.py: 539]
-05/10 06:51:15 ERROR: [Worker 0] Worker 0 house 1 episode 83 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 06:51:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:51:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:51:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:51:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:51:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:51:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:51:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:51:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:51:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:51:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008244m	[env.py: 870]
-05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:51:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71053753  0.07019964  0.00824408] yaw=153.0deg	[env.py: 1019]
-05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01420095  0.70326126  0.00824408] yaw=-160.4deg	[env.py: 1019]
-05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93600876  1.26641132  0.00824408] yaw=-143.9deg	[env.py: 1019]
-05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:51:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=374.2ms, total=374.3ms	[env.py: 1075]
-05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.711, 0.070, 0.008)	[env.py: 1079]
-05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.0 deg	[env.py: 1082]
-05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
-05/10 06:51:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:51:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:51:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:51:17 INFO: [Worker 0] Worker 0 house 1 episode 84/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:51:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:51:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:51:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:51:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:51:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.643s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:51:19 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.633[m] 89.985[deg]	[grasp_sample.py: 539]
-05/10 06:51:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:51:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:51:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:51:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:51:26 INFO: [Worker 0] Saved videos eagerly for episode 57 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:51:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 06:51:26 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/10 06:51:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:51:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:51:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.24s (batch: 3.99s, save: 8.25s)	[pipeline.py: 300]
-05/10 06:51:39 INFO: [Worker 0] [PROFILE] Episode 85 house 1 success=True episode_total=0.45s:
-  episode_total: mean=188.30s, total=188.30s, count=1, min=188299.7ms, max=188299.7ms
-  sensor_polling: mean=483.8ms, total=141.74s, count=293, min=398.0ms, max=963.4ms
-  save_trajectories: mean=8.25s, total=8.25s, count=1, min=8246.0ms, max=8246.0ms
-  physics_step: mean=22.8ms, total=6.68s, count=293, min=13.7ms, max=79.8ms
-  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3989.9ms, max=3989.9ms
-  task_sampling: mean=448.6ms, total=448.6ms, count=1, min=448.6ms, max=448.6ms
-  task_specific_sample: mean=444.5ms, total=444.5ms, count=1, min=444.5ms, max=444.5ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=470.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:51:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:51:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:51:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:51:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:51:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:51:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:51:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:51:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:51:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034213m	[env.py: 870]
-05/10 06:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:51:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77853417  0.8486638   0.03421306] yaw=-169.0deg	[env.py: 1019]
-05/10 06:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91189546  0.17037005  0.03421306] yaw=154.5deg	[env.py: 1019]
-05/10 06:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82288644  0.06201047  0.03421306] yaw=159.7deg	[env.py: 1019]
-05/10 06:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:51:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=513.3ms, total=513.3ms	[env.py: 1075]
-05/10 06:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.849, 0.034)	[env.py: 1079]
-05/10 06:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg	[env.py: 1082]
-05/10 06:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
-05/10 06:51:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:51:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:51:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:51:42 INFO: [Worker 0] Worker 0 house 1 episode 86/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:51:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.172s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:51:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:51:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:51:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:51:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.562s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:51:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.573[m] 94.530[deg]	[grasp_sample.py: 539]
-05/10 06:51:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:51:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:51:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:52:02 INFO: [Worker 0] Worker 0 house 1 episode 84 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:52:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:52:25 INFO: [Worker 0] Saved videos eagerly for episode 61 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:52:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 06:52:25 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/10 06:52:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:52:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:52:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:52:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:52:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.27s (batch: 4.83s, save: 8.44s)	[pipeline.py: 300]
-05/10 06:52:39 INFO: [Worker 0] [PROFILE] Episode 84 house 1 success=True episode_total=1.23s:
-  episode_total: mean=66.76s, total=200.27s, count=3, min=3759.9ms, max=190291.7ms
-  sensor_polling: mean=472.7ms, total=141.33s, count=299, min=399.3ms, max=1056.6ms
-  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8439.2ms, max=8439.2ms
-  physics_step: mean=22.5ms, total=6.73s, count=299, min=17.1ms, max=63.0ms
-  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4831.2ms, max=4831.2ms
-  task_sampling: mean=410.5ms, total=1.23s, count=3, min=345.4ms, max=490.9ms
-  task_specific_sample: mean=407.2ms, total=1.22s, count=3, min=341.7ms, max=487.4ms
-  scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.1ms, max=2.3ms
-  mj_forward_sync: mean=474.4us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=16.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:52:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:52:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:52:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:52:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:52:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:52:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:52:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029289m	[env.py: 870]
-05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:52:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05556598  0.75929606  0.02928938] yaw=-152.6deg	[env.py: 1019]
-05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74654557  0.46270049  0.02928938] yaw=177.4deg	[env.py: 1019]
-05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67698835  0.08918051  0.02928938] yaw=159.2deg	[env.py: 1019]
-05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:52:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.8ms, total=121.9ms	[env.py: 1075]
-05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.056, 0.759, 0.029)	[env.py: 1079]
-05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.6 deg	[env.py: 1082]
-05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.704m	[env.py: 1086]
-05/10 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:52:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:52:41 INFO: [Worker 0] Worker 0 house 1 episode 85/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:52:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:52:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:52:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:52:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:52:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.472s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:52:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.229[m] 86.467[deg]	[grasp_sample.py: 539]
-05/10 06:52:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:52:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:52:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:52:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:52:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:52:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:53:01 INFO: [Worker 0] Worker 0 house 1 episode 83 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:53:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:53:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:53:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:53:20 INFO: [Worker 0] Saved videos eagerly for episode 62 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:53:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 06:53:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:53:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:53:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:53:32 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.76s (batch: 3.92s, save: 7.84s)	[pipeline.py: 300]
-05/10 06:53:33 INFO: [Worker 0] [PROFILE] Episode 83 house 1 success=True episode_total=0.43s:
-  episode_total: mean=191.06s, total=191.06s, count=1, min=191063.2ms, max=191063.2ms
-  sensor_polling: mean=480.5ms, total=144.15s, count=300, min=404.4ms, max=946.1ms
-  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7839.7ms, max=7839.7ms
-  physics_step: mean=24.7ms, total=7.40s, count=300, min=16.8ms, max=86.4ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3917.4ms, max=3917.4ms
-  task_sampling: mean=426.6ms, total=426.6ms, count=1, min=426.6ms, max=426.6ms
-  task_specific_sample: mean=422.5ms, total=422.5ms, count=1, min=422.5ms, max=422.5ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=452.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:53:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:53:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:53:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:53:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:53:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:53:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:53:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:53:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:53:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:53:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:53:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007276m	[env.py: 870]
-05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:53:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7956867   0.34554942  0.00727575] yaw=171.0deg	[env.py: 1019]
-05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79661705  0.48626608  0.00727575] yaw=-168.3deg	[env.py: 1019]
-05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81350933  0.2542384   0.00727575] yaw=166.9deg	[env.py: 1019]
-05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:53:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.4ms, total=116.4ms	[env.py: 1075]
-05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.346, 0.007)	[env.py: 1079]
-05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.0 deg	[env.py: 1082]
-05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
-05/10 06:53:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:53:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:53:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:53:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:53:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:53:34 INFO: [Worker 0] Worker 0 house 1 episode 84/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:53:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:53:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:53:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:53:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:53:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.576s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:53:35 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.495[m] 91.024[deg]	[grasp_sample.py: 539]
-05/10 06:53:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:53:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:53:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:54:04 INFO: [Worker 0] Worker 0 house 1 episode 84 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:54:18 INFO: [Worker 0] Worker 0 house 1 episode 86 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:54:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:54:27 INFO: [Worker 0] Saved videos eagerly for episode 60 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:54:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 06:54:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:54:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:54:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:54:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:54:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.35s (batch: 3.74s, save: 8.60s)	[pipeline.py: 300]
-05/10 06:54:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:54:40 INFO: [Worker 0] Saved videos eagerly for episode 58 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:54:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 06:54:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:54:40 INFO: [Worker 0] [PROFILE] Episode 84 house 1 success=True episode_total=1.38s:
-  episode_total: mean=150.26s, total=300.52s, count=2, min=97409.6ms, max=203113.1ms
-  sensor_polling: mean=469.5ms, total=208.47s, count=444, min=383.9ms, max=936.4ms
-  physics_step: mean=21.3ms, total=9.46s, count=444, min=13.6ms, max=63.5ms
-  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8603.7ms, max=8603.7ms
-  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3743.4ms, max=3743.4ms
-  task_sampling: mean=691.4ms, total=1.38s, count=2, min=626.1ms, max=756.7ms
-  task_specific_sample: mean=687.6ms, total=1.38s, count=2, min=622.9ms, max=752.3ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.3ms, max=2.9ms
-  mj_forward_sync: mean=516.5us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=21.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:54:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:54:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:54:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:54:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:54:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:54:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:54:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004813m	[env.py: 870]
-05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:54:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02399905  0.1882757   0.00481298] yaw=152.3deg	[env.py: 1019]
-05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03281834  0.14257741  0.00481298] yaw=144.0deg	[env.py: 1019]
-05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76619615  0.72005702  0.00481298] yaw=-171.8deg	[env.py: 1019]
-05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:54:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=224.7ms, total=224.8ms	[env.py: 1075]
-05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.024, 0.188, 0.005)	[env.py: 1079]
-05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.3 deg	[env.py: 1082]
-05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.739m	[env.py: 1086]
-05/10 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:54:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:54:42 INFO: [Worker 0] Worker 0 house 1 episode 85/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:54:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:54:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:54:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:54:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:54:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.942s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:54:43 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.273[m] 83.180[deg]	[grasp_sample.py: 539]
-05/10 06:54:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:54:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:54:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:54:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:54:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:54:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.97s (batch: 4.65s, save: 12.33s)	[pipeline.py: 300]
-05/10 06:54:57 INFO: [Worker 0] [PROFILE] Episode 86 house 1 success=True episode_total=0.84s:
-  episode_total: mean=196.10s, total=196.10s, count=1, min=196104.6ms, max=196104.6ms
-  sensor_polling: mean=472.2ms, total=141.66s, count=300, min=400.4ms, max=961.1ms
-  save_trajectories: mean=12.33s, total=12.33s, count=1, min=12325.3ms, max=12325.3ms
-  physics_step: mean=21.9ms, total=6.58s, count=300, min=16.6ms, max=69.9ms
-  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4649.2ms, max=4649.2ms
-  task_sampling: mean=837.1ms, total=837.1ms, count=1, min=837.1ms, max=837.1ms
-  task_specific_sample: mean=832.2ms, total=832.2ms, count=1, min=832.2ms, max=832.2ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=565.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:54:59 INFO: [Worker 0] Worker 0 house 1 episode 85 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:54:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:54:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:54:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:54:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:54:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:54:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:54:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:54:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:54:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:54:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:54:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035686m	[env.py: 870]
-05/10 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:54:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.84140365  0.44135399  0.03568607] yaw=181.6deg	[env.py: 1019]
-05/10 06:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97533112  1.07128067  0.03568607] yaw=-133.5deg	[env.py: 1019]
-05/10 06:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:55:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=723.8ms, total=723.8ms	[env.py: 1075]
-05/10 06:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.441, 0.036)	[env.py: 1079]
-05/10 06:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.6 deg	[env.py: 1082]
-05/10 06:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m	[env.py: 1086]
-05/10 06:55:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:55:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:55:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:55:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:55:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:55:00 INFO: [Worker 0] Worker 0 house 1 episode 87/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:55:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:55:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:55:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:55:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:55:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.646s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:55:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.378[m] 76.208[deg]	[grasp_sample.py: 539]
-05/10 06:55:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:55:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:55:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:55:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:55:18 INFO: [Worker 0] Saved videos eagerly for episode 62 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:55:18 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 06:55:18 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
-05/10 06:55:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:55:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:55:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:55:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:55:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.14s (batch: 3.60s, save: 8.54s)	[pipeline.py: 300]
-05/10 06:55:31 INFO: [Worker 0] [PROFILE] Episode 85 house 1 success=True episode_total=0.39s:
-  episode_total: mean=170.26s, total=170.26s, count=1, min=170257.3ms, max=170257.3ms
-  sensor_polling: mean=481.2ms, total=128.00s, count=266, min=394.7ms, max=1052.0ms
-  save_trajectories: mean=8.54s, total=8.54s, count=1, min=8541.9ms, max=8541.9ms
-  physics_step: mean=22.7ms, total=6.04s, count=266, min=13.6ms, max=113.3ms
-  save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3599.3ms, max=3599.3ms
-  task_sampling: mean=391.7ms, total=391.7ms, count=1, min=391.7ms, max=391.7ms
-  task_specific_sample: mean=388.0ms, total=388.0ms, count=1, min=388.0ms, max=388.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=395.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:55:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:55:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:55:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:55:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:55:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:55:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:55:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041846m	[env.py: 870]
-05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:55:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04592016  1.18869358  0.04184558] yaw=-125.7deg	[env.py: 1019]
-05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76329362  0.46177085  0.04184558] yaw=179.6deg	[env.py: 1019]
-05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67981353  0.3333337   0.04184558] yaw=164.1deg	[env.py: 1019]
-05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:55:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.3ms, total=222.4ms	[env.py: 1075]
-05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.046, 1.189, 0.042)	[env.py: 1079]
-05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.7 deg	[env.py: 1082]
-05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m	[env.py: 1086]
-05/10 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:55:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:55:33 INFO: [Worker 0] Worker 0 house 1 episode 86/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:55:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:55:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:55:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:55:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:55:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.396s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:55:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.502[m] 86.887[deg]	[grasp_sample.py: 539]
-05/10 06:55:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:55:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:55:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:55:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:55:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:55:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:56:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:56:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:56:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:56:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:56:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:56:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:56:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:56:24 INFO: [Worker 0] Worker 0 house 1 episode 84 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:56:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:56:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:56:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:56:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:56:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:56:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:56:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:56:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:56:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:56:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:56:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 82 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:56:30 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.350s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:56:30 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.027[m] 0.784[deg]	[grasp_sample.py: 539]
-05/10 06:56:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:56:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:56:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:56:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:56:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:56:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:56:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:56:47 INFO: [Worker 0] Saved videos eagerly for episode 63 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:56:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 06:56:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:56:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:57:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:57:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:57:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.63s (batch: 4.61s, save: 8.02s)	[pipeline.py: 300]
-05/10 06:57:00 INFO: [Worker 0] [PROFILE] Episode 84 house 1 success=True episode_total=0.40s:
-  episode_total: mean=206.30s, total=206.30s, count=1, min=206298.0ms, max=206298.0ms
-  sensor_polling: mean=493.7ms, total=148.11s, count=300, min=404.9ms, max=1001.9ms
-  save_trajectories: mean=8.02s, total=8.02s, count=1, min=8023.0ms, max=8023.0ms
-  physics_step: mean=22.6ms, total=6.78s, count=300, min=16.8ms, max=67.2ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4611.6ms, max=4611.6ms
-  task_sampling: mean=400.2ms, total=400.2ms, count=1, min=400.2ms, max=400.2ms
-  task_specific_sample: mean=397.1ms, total=397.1ms, count=1, min=397.1ms, max=397.1ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=376.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:57:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:57:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:57:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:57:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:57:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:57:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:57:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:57:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:57:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015631m	[env.py: 870]
-05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:57:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71944063  0.41482139 -0.01563143] yaw=166.7deg	[env.py: 1019]
-05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87500575  0.98909979 -0.01563143] yaw=-150.5deg	[env.py: 1019]
-05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85362201  0.48932908 -0.01563143] yaw=-183.2deg	[env.py: 1019]
-05/10 06:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:57:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=364.0ms, total=364.0ms	[env.py: 1075]
-05/10 06:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.719, 0.415, -0.016)	[env.py: 1079]
-05/10 06:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.7 deg	[env.py: 1082]
-05/10 06:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
-05/10 06:57:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:57:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:57:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:57:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:57:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:57:03 INFO: [Worker 0] Worker 0 house 1 episode 85/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:57:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:57:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:57:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:57:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:57:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.821s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:57:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.559[m] 94.362[deg]	[grasp_sample.py: 539]
-05/10 06:57:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:57:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:57:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:57:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:57:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:57:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:57:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:57:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:57:16 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.635s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:57:16 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.887[deg]	[grasp_sample.py: 539]
-05/10 06:57:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:57:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:57:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:57:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:57:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:57:33 INFO: [Worker 0] Worker 0 house 1 episode 87 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:57:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:57:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 06:57:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:57:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:57:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:57:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 86 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:57:49 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.563s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 06:57:49 ERROR: [Worker 0] Worker 0 house 1 episode 86 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 06:57:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:57:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:57:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:57:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:57:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:57:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:57:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:57:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:57:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007252m	[env.py: 870]
-05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:57:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9430123   1.2164827   0.00725169] yaw=-137.9deg	[env.py: 1019]
-05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99180296  0.86744686  0.00725169] yaw=-157.5deg	[env.py: 1019]
-05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98889536  0.18793253  0.00725169] yaw=158.1deg	[env.py: 1019]
-05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:57:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.6ms, total=91.6ms	[env.py: 1075]
-05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 1.216, 0.007)	[env.py: 1079]
-05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.9 deg	[env.py: 1082]
-05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
-05/10 06:57:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:57:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:57:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:57:51 INFO: [Worker 0] Worker 0 house 1 episode 87/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:57:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:57:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:57:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:57:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:57:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.442s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:57:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.646[m] 86.776[deg]	[grasp_sample.py: 539]
-05/10 06:57:54 ERROR: [Worker 0] Worker 0 house 1 episode 87 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 06:57:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:57:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:57:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:57:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:57:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:57:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:57:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:57:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:57:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035419m	[env.py: 870]
-05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:57:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75140461  0.27970019 -0.03541894] yaw=161.0deg	[env.py: 1019]
-05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.22700065  1.0359369  -0.03541894] yaw=-134.5deg	[env.py: 1019]
-05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98012942  0.80456349 -0.03541894] yaw=-149.1deg	[env.py: 1019]
-05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:57:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.2ms, total=186.2ms	[env.py: 1075]
-05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.280, -0.035)	[env.py: 1079]
-05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.0 deg	[env.py: 1082]
-05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m	[env.py: 1086]
-05/10 06:57:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:57:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:57:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:57:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:57:56 INFO: [Worker 0] Worker 0 house 1 episode 88/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:57:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:57:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:57:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:57:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:57:56 INFO: [Worker 0] Saved videos eagerly for episode 59 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:57:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 06:57:56 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
-05/10 06:57:56 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 06:57:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 06:57:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:57:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:57:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 68 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:57:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:57:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.564[m] 96.907[deg]	[grasp_sample.py: 539]
-05/10 06:57:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:57:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:57:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:58:00 INFO: [Worker 0] Feasibility-checked 68 grasps in 3.468s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:58:00 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.288[deg]	[grasp_sample.py: 539]
-05/10 06:58:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:58:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:58:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:58:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:58:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:58:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:58:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:58:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.66s (batch: 4.03s, save: 9.63s)	[pipeline.py: 300]
-05/10 06:58:10 INFO: [Worker 0] [PROFILE] Episode 87 house 1 success=True episode_total=1.16s:
-  episode_total: mean=191.41s, total=191.41s, count=1, min=191412.7ms, max=191412.7ms
-  sensor_polling: mean=475.2ms, total=140.20s, count=295, min=400.8ms, max=1134.8ms
-  save_trajectories: mean=9.63s, total=9.63s, count=1, min=9631.4ms, max=9631.4ms
-  physics_step: mean=24.3ms, total=7.17s, count=295, min=16.5ms, max=84.5ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4027.5ms, max=4027.5ms
-  task_sampling: mean=1.16s, total=1.16s, count=1, min=1158.9ms, max=1158.9ms
-  task_specific_sample: mean=1.15s, total=1.15s, count=1, min=1154.3ms, max=1154.3ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=540.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:58:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:58:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:58:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:58:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:58:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:58:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:58:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:58:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:58:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:58:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012664m	[env.py: 870]
-05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:58:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92804882  0.18229136  0.01266415] yaw=154.7deg	[env.py: 1019]
-05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.68485493  0.5802498   0.01266415] yaw=-172.7deg	[env.py: 1019]
-05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.13136689  1.18419539  0.01266415] yaw=-119.6deg	[env.py: 1019]
-05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:58:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.1ms, total=80.2ms	[env.py: 1075]
-05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.928, 0.182, 0.013)	[env.py: 1079]
-05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.7 deg	[env.py: 1082]
-05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
-05/10 06:58:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:58:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:58:12 INFO: [Worker 0] Worker 0 house 1 episode 85 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:58:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:58:12 INFO: [Worker 0] Worker 0 house 1 episode 88/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:58:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:58:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:58:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:58:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:58:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.496s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:58:13 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.424[m] 99.880[deg]	[grasp_sample.py: 539]
-05/10 06:58:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:58:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:58:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:58:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:58:34 INFO: [Worker 0] Saved videos eagerly for episode 61 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 06:58:34 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 06:58:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 06:58:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 06:58:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 06:58:48 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.88s (batch: 4.67s, save: 9.21s)	[pipeline.py: 300]
-05/10 06:58:49 INFO: [Worker 0] [PROFILE] Episode 85 house 1 success=True episode_total=0.55s:
-  episode_total: mean=247.11s, total=247.11s, count=1, min=247109.6ms, max=247109.6ms
-  sensor_polling: mean=498.6ms, total=149.57s, count=300, min=400.4ms, max=1052.1ms
-  save_trajectories: mean=9.21s, total=9.21s, count=1, min=9209.0ms, max=9209.0ms
-  physics_step: mean=23.2ms, total=6.97s, count=300, min=13.6ms, max=117.8ms
-  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4667.4ms, max=4667.4ms
-  task_sampling: mean=550.1ms, total=550.1ms, count=1, min=550.1ms, max=550.1ms
-  task_specific_sample: mean=545.8ms, total=545.8ms, count=1, min=545.8ms, max=545.8ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=488.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 06:58:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 06:58:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 06:58:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 06:58:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:58:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:58:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 06:58:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 06:58:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 06:58:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 06:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 06:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 06:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049712m	[env.py: 870]
-05/10 06:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 06:58:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 06:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 06:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02754611  1.26334035  0.04971153] yaw=-126.9deg	[env.py: 1019]
-05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01178451  0.33644086  0.04971153] yaw=160.7deg	[env.py: 1019]
-05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96400527  1.07501723  0.04971153] yaw=-144.5deg	[env.py: 1019]
-05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 06:58:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.2ms, total=123.2ms	[env.py: 1075]
-05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.028, 1.263, 0.050)	[env.py: 1079]
-05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.9 deg	[env.py: 1082]
-05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
-05/10 06:58:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 06:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 06:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 06:58:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 06:58:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 06:58:51 INFO: [Worker 0] Worker 0 house 1 episode 86/240 collected=0/40	[pipeline.py: 1044]
-05/10 06:58:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 06:58:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 06:58:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 06:58:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 06:58:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:58:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.927s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 06:58:54 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.616[m] 79.842[deg]	[grasp_sample.py: 539]
-05/10 06:58:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 06:58:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 06:58:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:58:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:59:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:59:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 06:59:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:59:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 06:59:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:59:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:59:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 06:59:41 INFO: [Worker 0] Worker 0 house 1 episode 85 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 06:59:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:00:02 INFO: [Worker 0] Saved videos eagerly for episode 64 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:00:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 07:00:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:00:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:00:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:00:08 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 07:00:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:00:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:00:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:00:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:00:11 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.248s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:00:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.662[deg]	[grasp_sample.py: 539]
-05/10 07:00:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:00:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:00:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:00:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:00:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:00:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:00:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:00:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.41s (batch: 4.70s, save: 9.71s)	[pipeline.py: 300]
-05/10 07:00:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:00:17 INFO: [Worker 0] [PROFILE] Episode 85 house 1 success=True episode_total=0.65s:
-  episode_total: mean=195.08s, total=195.08s, count=1, min=195075.7ms, max=195075.7ms
-  sensor_polling: mean=468.8ms, total=140.65s, count=300, min=398.4ms, max=933.9ms
-  save_trajectories: mean=9.71s, total=9.71s, count=1, min=9707.0ms, max=9707.0ms
-  physics_step: mean=23.2ms, total=6.95s, count=300, min=16.9ms, max=68.6ms
-  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4699.0ms, max=4699.0ms
-  task_sampling: mean=651.3ms, total=651.3ms, count=1, min=651.3ms, max=651.3ms
-  task_specific_sample: mean=647.5ms, total=647.5ms, count=1, min=647.5ms, max=647.5ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=435.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:00:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:00:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:00:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:00:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:00:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:00:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:00:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:00:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:00:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:00:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:00:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041230m	[env.py: 870]
-05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:00:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:00:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7222051   0.94105255  0.04123036] yaw=-144.4deg	[env.py: 1019]
-05/10 07:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.83218823  0.41174133  0.04123036] yaw=185.4deg	[env.py: 1019]
-05/10 07:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:00:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=734.6ms, total=734.7ms	[env.py: 1075]
-05/10 07:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.722, 0.941, 0.041)	[env.py: 1079]
-05/10 07:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.4 deg	[env.py: 1082]
-05/10 07:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
-05/10 07:00:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:00:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:00:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:00:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:00:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:00:20 INFO: [Worker 0] Worker 0 house 1 episode 86/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:00:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:00:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:00:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:00:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:00:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:00:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.653s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:00:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.688[m] 98.333[deg]	[grasp_sample.py: 539]
-05/10 07:00:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:00:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:00:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:00:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:00:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:00:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:00:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:00:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:00:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:00:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:00:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:00:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:00:26 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.378s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:00:26 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.118[deg]	[grasp_sample.py: 539]
-05/10 07:00:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:00:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:00:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:00:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:00:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:00:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:00:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:00:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:00:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:00:34 INFO: [Worker 0] Worker 0 house 1 episode 88 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:00:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:00:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:00:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:00:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:00:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:00:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:00:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:00:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:00:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:00:58 INFO: [Worker 0] Saved videos eagerly for episode 63 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:00:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 07:00:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:01:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:01:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:01:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:01:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:01:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:01:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:01:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:01:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:01:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:01:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.63s (batch: 4.48s, save: 10.15s)	[pipeline.py: 300]
-05/10 07:01:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:01:14 INFO: [Worker 0] [PROFILE] Episode 88 house 1 success=True episode_total=1.32s:
-  episode_total: mean=112.61s, total=337.83s, count=3, min=2905.5ms, max=198023.1ms
-  sensor_polling: mean=471.4ms, total=254.10s, count=539, min=387.8ms, max=989.4ms
-  physics_step: mean=22.9ms, total=12.34s, count=539, min=13.8ms, max=77.7ms
-  save_trajectories: mean=10.15s, total=10.15s, count=1, min=10147.5ms, max=10147.5ms
-  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4482.2ms, max=4482.2ms
-  task_sampling: mean=438.9ms, total=1.32s, count=3, min=369.2ms, max=474.2ms
-  task_specific_sample: mean=435.2ms, total=1.31s, count=3, min=365.9ms, max=470.8ms
-  scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.4ms, max=2.2ms
-  mj_forward_sync: mean=499.7us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=17.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:01:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:01:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:01:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:01:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:01:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:01:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:01:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:01:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:01:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:01:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:01:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038530m	[env.py: 870]
-05/10 07:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:01:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70935005  0.64776104  0.03852956] yaw=-171.7deg	[env.py: 1019]
-05/10 07:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97248218  0.84947322  0.03852956] yaw=-143.0deg	[env.py: 1019]
-05/10 07:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85281394  0.88702816  0.03852956] yaw=-157.5deg	[env.py: 1019]
-05/10 07:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:01:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.8ms, total=93.8ms	[env.py: 1075]
-05/10 07:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.709, 0.648, 0.039)	[env.py: 1079]
-05/10 07:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.7 deg	[env.py: 1082]
-05/10 07:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m	[env.py: 1086]
-05/10 07:01:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:01:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:01:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:01:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:01:15 INFO: [Worker 0] Worker 0 house 1 episode 89/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:01:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:01:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:01:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:01:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:01:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.778s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:01:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.589[m] 95.099[deg]	[grasp_sample.py: 539]
-05/10 07:01:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:01:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:01:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:01:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:01:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:01:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:01:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:01:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:01:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:01:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:01:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:01:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:01:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:01:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:01:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:01:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:01:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:01:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:01:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.650s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:01:20 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.302[m] 23.717[deg]	[grasp_sample.py: 539]
-05/10 07:01:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:01:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:01:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:01:22 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.766s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:01:22 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.837[deg]	[grasp_sample.py: 539]
-05/10 07:01:24 ERROR: [Worker 0] Worker 0 house 1 episode 88 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:01:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:01:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:01:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:01:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:01:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:01:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:01:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:01:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:01:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011481m	[env.py: 870]
-05/10 07:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:01:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91147821  0.22658618  0.01148065] yaw=165.8deg	[env.py: 1019]
-05/10 07:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8732963   0.90562404  0.01148065] yaw=-146.6deg	[env.py: 1019]
-05/10 07:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91005443  0.63137891  0.01148065] yaw=-172.0deg	[env.py: 1019]
-05/10 07:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:01:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=388.6ms, total=388.7ms	[env.py: 1075]
-05/10 07:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.911, 0.227, 0.011)	[env.py: 1079]
-05/10 07:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.8 deg	[env.py: 1082]
-05/10 07:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
-05/10 07:01:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:01:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:01:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:01:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:01:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:01:26 INFO: [Worker 0] Worker 0 house 1 episode 89/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:01:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:01:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:01:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:01:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:01:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.730s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:01:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.409[m] 98.684[deg]	[grasp_sample.py: 539]
-05/10 07:01:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:01:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:01:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:01:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:01:40 INFO: [Worker 0] Worker 0 house 1 episode 86 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 07:01:40 INFO: [Worker 0] [PROFILE] Episode 86 house 1 success=False episode_total=0.38s:
-  episode_total: mean=169.73s, total=169.73s, count=1, min=169734.7ms, max=169734.7ms
-  sensor_polling: mean=471.7ms, total=141.52s, count=300, min=396.3ms, max=795.9ms
-  physics_step: mean=21.9ms, total=6.57s, count=300, min=13.1ms, max=64.7ms
-  task_sampling: mean=375.2ms, total=375.2ms, count=1, min=375.2ms, max=375.2ms
-  task_specific_sample: mean=371.8ms, total=371.8ms, count=1, min=371.8ms, max=371.8ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=448.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:01:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:01:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:01:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:01:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:01:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:01:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:01:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:01:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:01:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.029086m	[env.py: 870]
-05/10 07:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:01:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 129.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79175401  0.20257178 -0.02908599] yaw=155.4deg	[env.py: 1019]
-05/10 07:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63172337  0.71900582 -0.02908599] yaw=-176.7deg	[env.py: 1019]
-05/10 07:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.71219737  0.3616267  -0.02908599] yaw=183.2deg	[env.py: 1019]
-05/10 07:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:01:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=487.3ms, total=487.4ms	[env.py: 1075]
-05/10 07:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.792, 0.203, -0.029)	[env.py: 1079]
-05/10 07:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.4 deg	[env.py: 1082]
-05/10 07:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
-05/10 07:01:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:01:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:01:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:01:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:01:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:01:43 INFO: [Worker 0] Worker 0 house 1 episode 87/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:01:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:01:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:01:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:01:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:01:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:01:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.763s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:01:44 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.541[m] 90.984[deg]	[grasp_sample.py: 539]
-05/10 07:01:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:01:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:01:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:01:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:02:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:02:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:02:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:02:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:02:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:02:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:02:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:02:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:02:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:02:53 INFO: [Worker 0] Worker 0 house 1 episode 86 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:03:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:03:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:03:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:03:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:03:15 INFO: [Worker 0] Saved videos eagerly for episode 65 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:03:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 07:03:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:03:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:03:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:03:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:03:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:03:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:03:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:03:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:03:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:03:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:03:21 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.935s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:03:21 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.651[deg]	[grasp_sample.py: 539]
-05/10 07:03:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:03:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:03:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:03:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:03:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:03:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:03:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:03:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:03:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.61s (batch: 4.00s, save: 9.61s)	[pipeline.py: 300]
-05/10 07:03:29 INFO: [Worker 0] [PROFILE] Episode 86 house 1 success=True episode_total=1.01s:
-  episode_total: mean=190.11s, total=190.11s, count=1, min=190111.1ms, max=190111.1ms
-  sensor_polling: mean=470.5ms, total=141.14s, count=300, min=383.2ms, max=872.2ms
-  save_trajectories: mean=9.61s, total=9.61s, count=1, min=9614.5ms, max=9614.5ms
-  physics_step: mean=22.1ms, total=6.64s, count=300, min=14.5ms, max=74.2ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3998.2ms, max=3998.2ms
-  task_sampling: mean=1.01s, total=1.01s, count=1, min=1012.3ms, max=1012.3ms
-  task_specific_sample: mean=1.01s, total=1.01s, count=1, min=1007.7ms, max=1007.7ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=565.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:03:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:03:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:03:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:03:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:03:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:03:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:03:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:03:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:03:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:03:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:03:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042366m	[env.py: 870]
-05/10 07:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:03:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68819383  0.80145393  0.04236557] yaw=-159.5deg	[env.py: 1019]
-05/10 07:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.78511722  0.19962667  0.04236557] yaw=166.7deg	[env.py: 1019]
-05/10 07:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.854695    0.38237291  0.04236557] yaw=163.8deg	[env.py: 1019]
-05/10 07:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:03:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.9ms, total=158.0ms	[env.py: 1075]
-05/10 07:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.688, 0.801, 0.042)	[env.py: 1079]
-05/10 07:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.5 deg	[env.py: 1082]
-05/10 07:03:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m	[env.py: 1086]
-05/10 07:03:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:03:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:03:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:03:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:03:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:03:31 INFO: [Worker 0] Worker 0 house 1 episode 87/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:03:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:03:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:03:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:03:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:03:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.517s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:03:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.611[m] 89.316[deg]	[grasp_sample.py: 539]
-05/10 07:03:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:03:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:03:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:03:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:03:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:03:49 INFO: [Worker 0] Worker 0 house 1 episode 89 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:03:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:04:13 INFO: [Worker 0] Saved videos eagerly for episode 64 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:04:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 07:04:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:04:16 INFO: [Worker 0] Worker 0 house 1 episode 87 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:04:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:04:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:04:26 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.90s (batch: 4.21s, save: 8.69s)	[pipeline.py: 300]
-05/10 07:04:26 INFO: [Worker 0] [PROFILE] Episode 89 house 1 success=True episode_total=0.36s:
-  episode_total: mean=191.33s, total=191.33s, count=1, min=191327.7ms, max=191327.7ms
-  sensor_polling: mean=475.5ms, total=142.64s, count=300, min=399.6ms, max=823.3ms
-  save_trajectories: mean=8.69s, total=8.69s, count=1, min=8693.8ms, max=8693.8ms
-  physics_step: mean=22.1ms, total=6.62s, count=300, min=14.3ms, max=49.6ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4210.4ms, max=4210.4ms
-  task_sampling: mean=359.8ms, total=359.8ms, count=1, min=359.8ms, max=359.8ms
-  task_specific_sample: mean=356.2ms, total=356.2ms, count=1, min=356.2ms, max=356.2ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=374.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:04:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:04:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:04:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:04:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:04:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:04:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:04:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:04:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:04:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:04:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:04:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035562m	[env.py: 870]
-05/10 07:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:04:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10474203  1.08601908 -0.03556228] yaw=-135.0deg	[env.py: 1019]
-05/10 07:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.08243202  1.07544917 -0.03556228] yaw=-127.4deg	[env.py: 1019]
-05/10 07:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85637735  0.2168776  -0.03556228] yaw=154.1deg	[env.py: 1019]
-05/10 07:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:04:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.3ms, total=202.3ms	[env.py: 1075]
-05/10 07:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.105, 1.086, -0.036)	[env.py: 1079]
-05/10 07:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.0 deg	[env.py: 1082]
-05/10 07:04:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
-05/10 07:04:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:04:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:04:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:04:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:04:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:04:29 INFO: [Worker 0] Worker 0 house 1 episode 90/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:04:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:04:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:04:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:04:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:04:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.576s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:04:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.417[m] 90.967[deg]	[grasp_sample.py: 539]
-05/10 07:04:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:04:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:04:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:04:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:04:35 INFO: [Worker 0] Worker 0 house 1 episode 89 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:04:41 INFO: [Worker 0] Saved videos eagerly for episode 62 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:04:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 07:04:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:04:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:04:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:04:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:04:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:04:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.62s (batch: 4.64s, save: 7.98s)	[pipeline.py: 300]
-05/10 07:04:54 INFO: [Worker 0] [PROFILE] Episode 87 house 1 success=True episode_total=0.74s:
-  episode_total: mean=191.78s, total=191.78s, count=1, min=191779.7ms, max=191779.7ms
-  sensor_polling: mean=469.8ms, total=140.95s, count=300, min=397.7ms, max=699.6ms
-  save_trajectories: mean=7.98s, total=7.98s, count=1, min=7979.5ms, max=7979.5ms
-  physics_step: mean=22.2ms, total=6.67s, count=300, min=15.7ms, max=74.2ms
-  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4643.5ms, max=4643.5ms
-  task_sampling: mean=742.0ms, total=742.0ms, count=1, min=742.0ms, max=742.0ms
-  task_specific_sample: mean=738.1ms, total=738.1ms, count=1, min=738.1ms, max=738.1ms
-  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
-  mj_forward_sync: mean=558.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:04:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:04:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:04:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:04:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:04:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:04:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:04:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:04:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:04:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:04:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:04:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.032m, effective arm-mount z=0.828m (base_body_z=-0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032377m	[env.py: 870]
-05/10 07:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:04:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00239819  0.40133765 -0.0323768 ] yaw=174.8deg	[env.py: 1019]
-05/10 07:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91044714  1.08378363 -0.0323768 ] yaw=-151.7deg	[env.py: 1019]
-05/10 07:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95997889  0.15671389 -0.0323768 ] yaw=153.9deg	[env.py: 1019]
-05/10 07:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:04:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.4ms, total=92.5ms	[env.py: 1075]
-05/10 07:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.002, 0.401, -0.032)	[env.py: 1079]
-05/10 07:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.8 deg	[env.py: 1082]
-05/10 07:04:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.705m	[env.py: 1086]
-05/10 07:04:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:04:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:04:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:04:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:04:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:04:56 INFO: [Worker 0] Worker 0 house 1 episode 88/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:04:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:04:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:04:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:04:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:04:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.433s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:04:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.276[m] 88.875[deg]	[grasp_sample.py: 539]
-05/10 07:04:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:04:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:04:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:04:57 INFO: [Worker 0] Saved videos eagerly for episode 60 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:04:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 07:04:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:05:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:05:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:05:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:05:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.76s (batch: 4.27s, save: 9.49s)	[pipeline.py: 300]
-05/10 07:05:12 INFO: [Worker 0] [PROFILE] Episode 89 house 1 success=True episode_total=0.98s:
-  episode_total: mean=208.91s, total=417.82s, count=2, min=191598.8ms, max=226225.9ms
-  sensor_polling: mean=478.0ms, total=277.69s, count=581, min=399.2ms, max=833.0ms
-  physics_step: mean=22.6ms, total=13.11s, count=581, min=12.8ms, max=68.2ms
-  save_trajectories: mean=9.49s, total=9.49s, count=1, min=9489.0ms, max=9489.0ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4274.3ms, max=4274.3ms
-  task_sampling: mean=489.0ms, total=978.1ms, count=2, min=332.0ms, max=646.0ms
-  task_specific_sample: mean=485.2ms, total=970.5ms, count=2, min=328.1ms, max=642.4ms
-  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.6ms, max=2.7ms
-  mj_forward_sync: mean=465.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:05:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:05:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:05:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:05:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:05:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:05:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:05:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:05:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:05:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:05:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:05:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021402m	[env.py: 870]
-05/10 07:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:05:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86791286  0.39105431 -0.02140157] yaw=178.8deg	[env.py: 1019]
-05/10 07:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00621266  0.26846231 -0.02140157] yaw=172.4deg	[env.py: 1019]
-05/10 07:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:05:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=156.6ms, total=156.6ms	[env.py: 1075]
-05/10 07:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.868, 0.391, -0.021)	[env.py: 1079]
-05/10 07:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.8 deg	[env.py: 1082]
-05/10 07:05:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
-05/10 07:05:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:05:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:05:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:05:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:05:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:05:14 INFO: [Worker 0] Worker 0 house 1 episode 90/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:05:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:05:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:05:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:05:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:05:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.427s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:05:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.427[m] 97.267[deg]	[grasp_sample.py: 539]
-05/10 07:05:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:05:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:05:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:05:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:05:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:05:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:05:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:05:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:05:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:06:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:06:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:06:03 INFO: [Worker 0] Worker 0 house 1 episode 87 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:06:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:06:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:06:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:06:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:06:30 INFO: [Worker 0] Saved videos eagerly for episode 66 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:06:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 07:06:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:06:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:06:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:06:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:06:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:06:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:06:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:06:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.52s (batch: 3.91s, save: 9.61s)	[pipeline.py: 300]
-05/10 07:06:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:06:45 INFO: [Worker 0] [PROFILE] Episode 87 house 1 success=True episode_total=0.45s:
-  episode_total: mean=194.14s, total=194.14s, count=1, min=194138.4ms, max=194138.4ms
-  sensor_polling: mean=468.8ms, total=140.65s, count=300, min=399.8ms, max=793.1ms
-  save_trajectories: mean=9.61s, total=9.61s, count=1, min=9605.0ms, max=9605.0ms
-  physics_step: mean=21.8ms, total=6.53s, count=300, min=13.7ms, max=53.0ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3914.2ms, max=3914.2ms
-  task_sampling: mean=452.5ms, total=452.5ms, count=1, min=452.5ms, max=452.5ms
-  task_specific_sample: mean=449.1ms, total=449.1ms, count=1, min=449.1ms, max=449.1ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=391.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:06:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:06:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:06:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:06:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:06:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:06:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:06:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:06:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:06:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:06:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049924m	[env.py: 870]
-05/10 07:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:06:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9973636   1.3130741   0.04992408] yaw=-141.1deg	[env.py: 1019]
-05/10 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72465027  0.36575519  0.04992408] yaw=167.3deg	[env.py: 1019]
-05/10 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9749239   1.1032493   0.04992408] yaw=-150.4deg	[env.py: 1019]
-05/10 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:06:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.4ms, total=81.4ms	[env.py: 1075]
-05/10 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.997, 1.313, 0.050)	[env.py: 1079]
-05/10 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.1 deg	[env.py: 1082]
-05/10 07:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
-05/10 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:06:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:06:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:06:47 INFO: [Worker 0] Worker 0 house 1 episode 88/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:06:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:06:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:06:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:06:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:06:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:06:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.532s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 07:06:49 ERROR: [Worker 0] Worker 0 house 1 episode 88 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 07:06:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:06:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:06:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:06:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:06:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:06:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:06:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:06:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:06:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:06:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:06:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:06:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:06:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:06:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:06:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:06:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:06:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011292m	[env.py: 870]
-05/10 07:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:06:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91099582  0.40725909 -0.01129217] yaw=171.1deg	[env.py: 1019]
-05/10 07:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99614445  0.39570385 -0.01129217] yaw=166.5deg	[env.py: 1019]
-05/10 07:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:06:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=165.9ms, total=166.0ms	[env.py: 1075]
-05/10 07:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.911, 0.407, -0.011)	[env.py: 1079]
-05/10 07:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.1 deg	[env.py: 1082]
-05/10 07:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.795m	[env.py: 1086]
-05/10 07:06:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:06:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:06:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:06:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:06:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:06:51 INFO: [Worker 0] Worker 0 house 1 episode 89/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:06:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:06:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:06:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:06:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:06:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.403s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:06:51 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.391[m] 95.173[deg]	[grasp_sample.py: 539]
-05/10 07:06:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:06:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:06:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:06:53 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.610s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:06:53 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.114[m] 2.433[deg]	[grasp_sample.py: 539]
-05/10 07:06:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:06:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:06:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:07:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:07:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:07:15 INFO: [Worker 0] Worker 0 house 1 episode 90 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:07:30 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 07:07:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:07:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:07:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:07:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:07:30 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.431s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:07:30 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.021[deg]	[grasp_sample.py: 539]
-05/10 07:07:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:07:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:07:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:07:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:07:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:07:39 INFO: [Worker 0] Saved videos eagerly for episode 65 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:07:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 07:07:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:07:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:07:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:07:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:07:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:07:51 INFO: [Worker 0] Worker 0 house 1 episode 90 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:07:52 INFO: [Worker 0] Worker 0 house 1 episode 88 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:07:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:07:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:07:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.83s (batch: 3.97s, save: 8.85s)	[pipeline.py: 300]
-05/10 07:07:53 INFO: [Worker 0] [PROFILE] Episode 90 house 1 success=True episode_total=0.53s:
-  episode_total: mean=204.84s, total=204.84s, count=1, min=204840.0ms, max=204840.0ms
-  sensor_polling: mean=471.9ms, total=141.58s, count=300, min=400.5ms, max=944.6ms
-  save_trajectories: mean=8.85s, total=8.85s, count=1, min=8854.2ms, max=8854.2ms
-  physics_step: mean=21.8ms, total=6.55s, count=300, min=14.3ms, max=59.7ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3974.3ms, max=3974.3ms
-  task_sampling: mean=532.8ms, total=532.8ms, count=1, min=532.8ms, max=532.8ms
-  task_specific_sample: mean=528.1ms, total=528.1ms, count=1, min=528.1ms, max=528.1ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=581.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=43.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:07:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:07:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:07:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:07:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:07:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:07:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:07:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:07:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:07:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:07:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:07:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.022400m	[env.py: 870]
-05/10 07:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:07:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79867456  0.7970321  -0.02240023] yaw=-151.5deg	[env.py: 1019]
-05/10 07:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83070094  0.67443312 -0.02240023] yaw=-174.8deg	[env.py: 1019]
-05/10 07:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:07:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=260.9ms, total=261.0ms	[env.py: 1075]
-05/10 07:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.799, 0.797, -0.022)	[env.py: 1079]
-05/10 07:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.5 deg	[env.py: 1082]
-05/10 07:07:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
-05/10 07:07:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:07:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:07:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:07:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:07:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:07:55 INFO: [Worker 0] Worker 0 house 1 episode 91/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:07:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:07:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:07:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:07:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:07:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.019s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:07:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.559[m] 91.068[deg]	[grasp_sample.py: 539]
-05/10 07:07:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:07:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:07:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:08:18 INFO: [Worker 0] Saved videos eagerly for episode 61 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:08:18 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 07:08:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:08:20 INFO: [Worker 0] Saved videos eagerly for episode 63 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:08:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 07:08:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:08:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:08:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:08:31 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.62s (batch: 4.51s, save: 8.11s)	[pipeline.py: 300]
-05/10 07:08:31 INFO: [Worker 0] [PROFILE] Episode 90 house 1 success=True episode_total=0.41s:
-  episode_total: mean=198.27s, total=198.27s, count=1, min=198266.2ms, max=198266.2ms
-  sensor_polling: mean=484.3ms, total=145.30s, count=300, min=396.2ms, max=1047.8ms
-  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8113.3ms, max=8113.3ms
-  physics_step: mean=24.3ms, total=7.30s, count=300, min=16.8ms, max=74.1ms
-  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4510.2ms, max=4510.2ms
-  task_sampling: mean=408.5ms, total=408.5ms, count=1, min=408.5ms, max=408.5ms
-  task_specific_sample: mean=405.1ms, total=405.1ms, count=1, min=405.1ms, max=405.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=382.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:08:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:08:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:08:32 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.44s (batch: 4.45s, save: 7.99s)	[pipeline.py: 300]
-05/10 07:08:33 INFO: [Worker 0] [PROFILE] Episode 88 house 1 success=True episode_total=0.39s:
-  episode_total: mean=217.37s, total=217.37s, count=1, min=217371.3ms, max=217371.3ms
-  sensor_polling: mean=479.0ms, total=143.70s, count=300, min=398.6ms, max=1101.4ms
-  save_trajectories: mean=7.99s, total=7.99s, count=1, min=7989.5ms, max=7989.5ms
-  physics_step: mean=23.8ms, total=7.13s, count=300, min=13.8ms, max=68.1ms
-  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4453.4ms, max=4453.4ms
-  task_sampling: mean=388.4ms, total=388.4ms, count=1, min=388.4ms, max=388.4ms
-  task_specific_sample: mean=384.9ms, total=384.9ms, count=1, min=384.9ms, max=384.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=387.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:08:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:08:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:08:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:08:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:08:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:08:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:08:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:08:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:08:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011452m	[env.py: 870]
-05/10 07:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:08:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.17160594  1.05679526 -0.01145193] yaw=-133.5deg	[env.py: 1019]
-05/10 07:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87976769  1.09926712 -0.01145193] yaw=-145.7deg	[env.py: 1019]
-05/10 07:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9731458   0.67671509 -0.01145193] yaw=-170.6deg	[env.py: 1019]
-05/10 07:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:08:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=73.3ms, total=73.3ms	[env.py: 1075]
-05/10 07:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.172, 1.057, -0.011)	[env.py: 1079]
-05/10 07:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.5 deg	[env.py: 1082]
-05/10 07:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m	[env.py: 1086]
-05/10 07:08:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:08:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:08:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:08:33 INFO: [Worker 0] Worker 0 house 1 episode 91/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:08:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:08:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:08:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:08:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:08:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.483s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:08:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.387[m] 94.348[deg]	[grasp_sample.py: 539]
-05/10 07:08:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:08:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:08:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:08:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:08:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:08:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:08:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:08:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:08:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:08:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:08:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:08:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014724m	[env.py: 870]
-05/10 07:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:08:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91144477  0.82242273  0.01472421] yaw=-161.5deg	[env.py: 1019]
-05/10 07:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79618899  0.00814545  0.01472421] yaw=147.3deg	[env.py: 1019]
-05/10 07:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.73478175  0.34273058  0.01472421] yaw=175.7deg	[env.py: 1019]
-05/10 07:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:08:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.5ms, total=138.6ms	[env.py: 1075]
-05/10 07:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.911, 0.822, 0.015)	[env.py: 1079]
-05/10 07:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.5 deg	[env.py: 1082]
-05/10 07:08:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
-05/10 07:08:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:08:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:08:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:08:35 INFO: [Worker 0] Worker 0 house 1 episode 89/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:08:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:08:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:08:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:08:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:08:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.573s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:08:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.452[m] 97.722[deg]	[grasp_sample.py: 539]
-05/10 07:08:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:08:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:08:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:08:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:08:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:09:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:09:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:09:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:09:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:09:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:09:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:09:29 INFO: [Worker 0] Worker 0 house 1 episode 89 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:09:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:09:53 INFO: [Worker 0] Saved videos eagerly for episode 67 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:09:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 07:09:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:10:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:10:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:10:08 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.99s (batch: 4.21s, save: 10.78s)	[pipeline.py: 300]
-05/10 07:10:08 INFO: [Worker 0] [PROFILE] Episode 89 house 1 success=True episode_total=0.75s:
-  episode_total: mean=100.09s, total=200.18s, count=2, min=2062.2ms, max=198121.8ms
-  sensor_polling: mean=477.5ms, total=143.26s, count=300, min=395.9ms, max=918.9ms
-  save_trajectories: mean=10.78s, total=10.78s, count=1, min=10775.7ms, max=10775.7ms
-  physics_step: mean=23.0ms, total=6.89s, count=300, min=16.9ms, max=60.1ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4211.9ms, max=4211.9ms
-  task_sampling: mean=375.7ms, total=751.4ms, count=2, min=358.3ms, max=393.1ms
-  task_specific_sample: mean=371.9ms, total=743.9ms, count=2, min=354.0ms, max=389.9ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.3ms, max=2.8ms
-  mj_forward_sync: mean=500.3us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:10:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:10:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:10:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:10:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:10:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:10:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:10:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:10:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:10:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:10:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:10:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040093m	[env.py: 870]
-05/10 07:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:10:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04524011  1.00912206 -0.04009324] yaw=-131.2deg	[env.py: 1019]
-05/10 07:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62782364  0.26952545 -0.04009324] yaw=174.3deg	[env.py: 1019]
-05/10 07:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00331624  0.40759478 -0.04009324] yaw=180.6deg	[env.py: 1019]
-05/10 07:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:10:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.8ms, total=146.8ms	[env.py: 1075]
-05/10 07:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.045, 1.009, -0.040)	[env.py: 1079]
-05/10 07:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.2 deg	[env.py: 1082]
-05/10 07:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
-05/10 07:10:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:10:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:10:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:10:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:10:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:10:10 INFO: [Worker 0] Worker 0 house 1 episode 90/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:10:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:10:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:10:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:10:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:10:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.638s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:10:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.430[m] 85.879[deg]	[grasp_sample.py: 539]
-05/10 07:10:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:10:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:10:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:10:25 INFO: [Worker 0] Worker 0 house 1 episode 91 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:10:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:10:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:10:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:10:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:10:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:10:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:10:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:10:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:10:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:10:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:10:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:10:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:10:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:10:52 INFO: [Worker 0] Saved videos eagerly for episode 66 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:10:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 07:10:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:10:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:10:56 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.924s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:10:56 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.115[m] 2.666[deg]	[grasp_sample.py: 539]
-05/10 07:10:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:10:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:10:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:11:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:11:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:11:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:11:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.27s (batch: 4.23s, save: 8.04s)	[pipeline.py: 300]
-05/10 07:11:05 INFO: [Worker 0] [PROFILE] Episode 91 house 1 success=True episode_total=0.56s:
-  episode_total: mean=190.24s, total=190.24s, count=1, min=190240.4ms, max=190240.4ms
-  sensor_polling: mean=463.4ms, total=139.02s, count=300, min=385.3ms, max=846.5ms
-  save_trajectories: mean=8.04s, total=8.04s, count=1, min=8043.1ms, max=8043.1ms
-  physics_step: mean=21.6ms, total=6.47s, count=300, min=13.6ms, max=47.6ms
-  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4229.4ms, max=4229.4ms
-  task_sampling: mean=555.2ms, total=555.2ms, count=1, min=555.2ms, max=555.2ms
-  task_specific_sample: mean=550.5ms, total=550.5ms, count=1, min=550.5ms, max=550.5ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=479.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:11:05 INFO: [Worker 0] Worker 0 house 1 episode 89 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:11:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:11:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:11:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:11:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:11:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:11:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:11:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:11:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:11:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:11:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:11:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:11:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026274m	[env.py: 870]
-05/10 07:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:11:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67159284  0.79134688 -0.02627358] yaw=-157.5deg	[env.py: 1019]
-05/10 07:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.74360136  0.15629752 -0.02627358] yaw=165.9deg	[env.py: 1019]
-05/10 07:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:11:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=183.5ms, total=183.5ms	[env.py: 1075]
-05/10 07:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.791, -0.026)	[env.py: 1079]
-05/10 07:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.5 deg	[env.py: 1082]
-05/10 07:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
-05/10 07:11:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:11:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:11:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:11:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:11:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:11:07 INFO: [Worker 0] Worker 0 house 1 episode 92/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:11:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:11:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:11:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:11:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:11:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:11:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.418s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:11:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.676[m] 95.294[deg]	[grasp_sample.py: 539]
-05/10 07:11:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:11:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:11:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:11:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:11:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:11:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:11:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:11:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:11:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:11:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:11:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:11:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:11:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:11:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:11:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:11:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 82 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:11:22 INFO: [Worker 0] Feasibility-checked 82 grasps in 1.871s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:11:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.113[m] 2.469[deg]	[grasp_sample.py: 539]
-05/10 07:11:23 ERROR: [Worker 0] Worker 0 house 1 episode 91 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:11:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:11:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:11:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:11:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:11:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:11:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:11:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035021m	[env.py: 870]
-05/10 07:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:11:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64548638  0.72638914 -0.03502071] yaw=-169.1deg	[env.py: 1019]
-05/10 07:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12787217  0.91802805 -0.03502071] yaw=-134.1deg	[env.py: 1019]
-05/10 07:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69724315  0.40047602 -0.03502071] yaw=180.3deg	[env.py: 1019]
-05/10 07:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:11:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=234.1ms, total=234.1ms	[env.py: 1075]
-05/10 07:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.645, 0.726, -0.035)	[env.py: 1079]
-05/10 07:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.1 deg	[env.py: 1082]
-05/10 07:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
-05/10 07:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:11:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:11:25 INFO: [Worker 0] Worker 0 house 1 episode 92/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:11:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:11:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:11:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:11:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:11:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.160s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:11:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.642[m] 89.189[deg]	[grasp_sample.py: 539]
-05/10 07:11:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:11:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:11:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:11:29 INFO: [Worker 0] Saved videos eagerly for episode 64 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:11:29 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 07:11:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:11:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:11:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:11:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.44s (batch: 5.34s, save: 10.10s)	[pipeline.py: 300]
-05/10 07:11:45 INFO: [Worker 0] [PROFILE] Episode 89 house 1 success=True episode_total=0.42s:
-  episode_total: mean=190.14s, total=190.14s, count=1, min=190144.6ms, max=190144.6ms
-  sensor_polling: mean=465.9ms, total=139.76s, count=300, min=397.7ms, max=929.9ms
-  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10097.2ms, max=10097.2ms
-  physics_step: mean=21.3ms, total=6.39s, count=300, min=14.0ms, max=53.3ms
-  save_batch_prep: mean=5.34s, total=5.34s, count=1, min=5341.9ms, max=5341.9ms
-  task_sampling: mean=415.6ms, total=415.6ms, count=1, min=415.6ms, max=415.6ms
-  task_specific_sample: mean=412.2ms, total=412.2ms, count=1, min=412.2ms, max=412.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=383.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:11:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:11:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:11:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:11:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:11:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:11:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:11:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:11:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:11:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015945m	[env.py: 870]
-05/10 07:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:11:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00001695  0.78372267 -0.01594521] yaw=-164.3deg	[env.py: 1019]
-05/10 07:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.84034868  0.69701182 -0.01594521] yaw=-171.0deg	[env.py: 1019]
-05/10 07:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:11:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=166.0ms, total=166.1ms	[env.py: 1075]
-05/10 07:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.000, 0.784, -0.016)	[env.py: 1079]
-05/10 07:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.3 deg	[env.py: 1082]
-05/10 07:11:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.764m	[env.py: 1086]
-05/10 07:11:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:11:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:11:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:11:47 INFO: [Worker 0] Worker 0 house 1 episode 90/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:11:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:11:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:11:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:11:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:11:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.482s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:11:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.332[m] 86.964[deg]	[grasp_sample.py: 539]
-05/10 07:11:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:11:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:11:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:12:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:12:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:12:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:12:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:12:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:12:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:12:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:12:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:12:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:12:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:12:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:12:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:12:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:12:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:12:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:12:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:12:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:12:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:12:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:12:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:12:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:12:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:12:57 INFO: [Worker 0] Feasibility-checked 76 grasps in 4.066s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:12:57 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.115[m] 2.572[deg]	[grasp_sample.py: 539]
-05/10 07:12:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:12:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:12:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:13:00 INFO: [Worker 0] Worker 0 house 1 episode 90 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:13:23 INFO: [Worker 0] Saved videos eagerly for episode 68 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:13:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 07:13:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:13:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:13:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:13:36 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.73s (batch: 4.40s, save: 8.33s)	[pipeline.py: 300]
-05/10 07:13:36 INFO: [Worker 0] [PROFILE] Episode 90 house 1 success=True episode_total=0.41s:
-  episode_total: mean=206.58s, total=206.58s, count=1, min=206582.9ms, max=206582.9ms
-  sensor_polling: mean=477.8ms, total=143.35s, count=300, min=401.5ms, max=844.1ms
-  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8332.2ms, max=8332.2ms
-  physics_step: mean=22.1ms, total=6.63s, count=300, min=14.1ms, max=64.9ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4398.0ms, max=4398.0ms
-  task_sampling: mean=412.3ms, total=412.3ms, count=1, min=412.3ms, max=412.3ms
-  task_specific_sample: mean=407.7ms, total=407.7ms, count=1, min=407.7ms, max=407.7ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=554.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:13:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:13:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:13:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:13:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:13:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:13:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:13:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:13:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:13:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040607m	[env.py: 870]
-05/10 07:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:13:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81717058  1.0234316  -0.04060686] yaw=-141.9deg	[env.py: 1019]
-05/10 07:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.65489954  0.63648873 -0.04060686] yaw=-174.5deg	[env.py: 1019]
-05/10 07:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.80460156  0.72171773 -0.04060686] yaw=-159.0deg	[env.py: 1019]
-05/10 07:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:13:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.7ms, total=141.8ms	[env.py: 1075]
-05/10 07:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.817, 1.023, -0.041)	[env.py: 1079]
-05/10 07:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.9 deg	[env.py: 1082]
-05/10 07:13:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
-05/10 07:13:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:13:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:13:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:13:39 INFO: [Worker 0] Worker 0 house 1 episode 91/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:13:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:13:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:13:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:13:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:13:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.456s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:13:40 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.652[m] 98.252[deg]	[grasp_sample.py: 539]
-05/10 07:13:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:13:41 INFO: [Worker 0] Worker 0 house 1 episode 92 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:13:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:13:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:13:58 INFO: [Worker 0] Worker 0 house 1 episode 92 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:14:03 INFO: [Worker 0] Saved videos eagerly for episode 67 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:14:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 07:14:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:14:12 INFO: [Worker 0] Worker 0 house 1 episode 90 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:14:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:14:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:14:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.50s (batch: 3.86s, save: 8.64s)	[pipeline.py: 300]
-05/10 07:14:17 INFO: [Worker 0] [PROFILE] Episode 92 house 1 success=True episode_total=0.52s:
-  episode_total: mean=190.20s, total=190.20s, count=1, min=190204.7ms, max=190204.7ms
-  sensor_polling: mean=473.5ms, total=142.05s, count=300, min=397.7ms, max=862.1ms
-  save_trajectories: mean=8.64s, total=8.64s, count=1, min=8639.9ms, max=8639.9ms
-  physics_step: mean=22.3ms, total=6.70s, count=300, min=14.2ms, max=83.5ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3856.2ms, max=3856.2ms
-  task_sampling: mean=522.0ms, total=522.0ms, count=1, min=522.0ms, max=522.0ms
-  task_specific_sample: mean=517.6ms, total=517.6ms, count=1, min=517.6ms, max=517.6ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=530.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:14:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:14:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:14:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:14:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:14:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:14:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:14:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:14:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:14:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:14:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:14:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.033m, effective arm-mount z=0.827m (base_body_z=-0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:14:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:14:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:14:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033376m	[env.py: 870]
-05/10 07:14:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:14:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:14:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09681769  1.01718262 -0.03337571] yaw=-139.4deg	[env.py: 1019]
-05/10 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.68741519  0.20162749 -0.03337571] yaw=172.1deg	[env.py: 1019]
-05/10 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93796658  0.38675015 -0.03337571] yaw=165.2deg	[env.py: 1019]
-05/10 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:14:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.5ms, total=192.5ms	[env.py: 1075]
-05/10 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.097, 1.017, -0.033)	[env.py: 1079]
-05/10 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.4 deg	[env.py: 1082]
-05/10 07:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
-05/10 07:14:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:14:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:14:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:14:19 INFO: [Worker 0] Worker 0 house 1 episode 93/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:14:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:14:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:14:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:14:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:14:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:14:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.430[m] 97.469[deg]	[grasp_sample.py: 539]
-05/10 07:14:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:14:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:14:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:14:20 INFO: [Worker 0] Saved videos eagerly for episode 62 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:14:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 07:14:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:14:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:14:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:14:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.29s (batch: 4.07s, save: 8.22s)	[pipeline.py: 300]
-05/10 07:14:33 INFO: [Worker 0] [PROFILE] Episode 92 house 1 success=True episode_total=0.82s:
-  episode_total: mean=179.26s, total=358.53s, count=2, min=170037.1ms, max=188491.5ms
-  sensor_polling: mean=462.2ms, total=272.67s, count=590, min=395.5ms, max=863.8ms
-  physics_step: mean=21.5ms, total=12.68s, count=590, min=13.8ms, max=56.9ms
-  save_trajectories: mean=8.22s, total=8.22s, count=1, min=8218.2ms, max=8218.2ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4073.0ms, max=4073.0ms
-  task_sampling: mean=409.4ms, total=818.7ms, count=2, min=347.0ms, max=471.7ms
-  task_specific_sample: mean=405.8ms, total=811.7ms, count=2, min=343.7ms, max=468.0ms
-  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.7ms, max=2.2ms
-  mj_forward_sync: mean=496.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=16.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:14:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:14:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:14:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:14:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:14:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:14:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:14:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:14:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:14:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004861m	[env.py: 870]
-05/10 07:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:14:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 126.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73320914  0.52467016 -0.0048605 ] yaw=-169.9deg	[env.py: 1019]
-05/10 07:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96974627  0.71256457 -0.0048605 ] yaw=-161.7deg	[env.py: 1019]
-05/10 07:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84334244  0.10967455 -0.0048605 ] yaw=154.7deg	[env.py: 1019]
-05/10 07:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:14:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.8ms, total=175.9ms	[env.py: 1075]
-05/10 07:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.733, 0.525, -0.005)	[env.py: 1079]
-05/10 07:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.9 deg	[env.py: 1082]
-05/10 07:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m	[env.py: 1086]
-05/10 07:14:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:14:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:14:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:14:35 INFO: [Worker 0] Worker 0 house 1 episode 93/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:14:35 INFO: [Worker 0] Saved videos eagerly for episode 65 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:14:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 07:14:35 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
-05/10 07:14:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:14:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:14:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:14:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:14:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.479s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:14:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.540[m] 91.875[deg]	[grasp_sample.py: 539]
-05/10 07:14:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:14:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:14:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:14:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:14:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:14:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:14:48 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.60s (batch: 3.82s, save: 8.77s)	[pipeline.py: 300]
-05/10 07:14:49 INFO: [Worker 0] [PROFILE] Episode 90 house 1 success=True episode_total=0.49s:
-  episode_total: mean=182.36s, total=182.36s, count=1, min=182363.8ms, max=182363.8ms
-  sensor_polling: mean=470.3ms, total=134.97s, count=287, min=391.1ms, max=950.7ms
-  save_trajectories: mean=8.77s, total=8.77s, count=1, min=8772.7ms, max=8772.7ms
-  physics_step: mean=21.5ms, total=6.16s, count=287, min=13.7ms, max=45.4ms
-  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3823.7ms, max=3823.7ms
-  task_sampling: mean=488.8ms, total=488.8ms, count=1, min=488.8ms, max=488.8ms
-  task_specific_sample: mean=483.4ms, total=483.4ms, count=1, min=483.4ms, max=483.4ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=698.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=34.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:14:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:14:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:14:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:14:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:14:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:14:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:14:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:14:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:14:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004942m	[env.py: 870]
-05/10 07:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:14:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83872925  0.6785228  -0.00494188] yaw=-160.6deg	[env.py: 1019]
-05/10 07:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9567431   0.38162128 -0.00494188] yaw=174.3deg	[env.py: 1019]
-05/10 07:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:14:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=230.3ms, total=230.4ms	[env.py: 1075]
-05/10 07:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.679, -0.005)	[env.py: 1079]
-05/10 07:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.6 deg	[env.py: 1082]
-05/10 07:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
-05/10 07:14:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:14:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:14:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:14:51 INFO: [Worker 0] Worker 0 house 1 episode 91/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:14:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:14:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:14:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:14:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:14:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.453s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:14:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.482[m] 91.717[deg]	[grasp_sample.py: 539]
-05/10 07:14:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:14:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:14:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:14:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:14:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:15:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:15:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:15:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:15:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:15:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:15:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:15:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:15:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:15:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:16:09 INFO: [Worker 0] Worker 0 house 1 episode 91 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:16:33 INFO: [Worker 0] Saved videos eagerly for episode 69 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:16:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 07:16:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:16:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:16:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:16:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:16:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:16:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:16:45 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.00s (batch: 4.29s, save: 7.71s)	[pipeline.py: 300]
-05/10 07:16:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:16:46 INFO: [Worker 0] [PROFILE] Episode 91 house 1 success=True episode_total=0.44s:
-  episode_total: mean=187.92s, total=187.92s, count=1, min=187918.5ms, max=187918.5ms
-  sensor_polling: mean=463.1ms, total=138.94s, count=300, min=384.4ms, max=821.1ms
-  save_trajectories: mean=7.71s, total=7.71s, count=1, min=7712.9ms, max=7712.9ms
-  physics_step: mean=21.7ms, total=6.52s, count=300, min=13.7ms, max=59.0ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4288.6ms, max=4288.6ms
-  task_sampling: mean=439.2ms, total=439.2ms, count=1, min=439.2ms, max=439.2ms
-  task_specific_sample: mean=435.6ms, total=435.6ms, count=1, min=435.6ms, max=435.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=534.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:16:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:16:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:16:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:16:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:16:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:16:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:16:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:16:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:16:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:16:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:16:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:16:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040917m	[env.py: 870]
-05/10 07:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:16:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98326368  0.13660385  0.04091726] yaw=145.7deg	[env.py: 1019]
-05/10 07:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99473498  0.27904755  0.04091726] yaw=153.4deg	[env.py: 1019]
-05/10 07:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:16:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=153.9ms, total=154.0ms	[env.py: 1075]
-05/10 07:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.983, 0.137, 0.041)	[env.py: 1079]
-05/10 07:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.7 deg	[env.py: 1082]
-05/10 07:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.798m	[env.py: 1086]
-05/10 07:16:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:16:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:16:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:16:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:16:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:16:48 INFO: [Worker 0] Worker 0 house 1 episode 92/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:16:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:16:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:16:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:16:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:16:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:16:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.799s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:16:49 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.363[m] 90.768[deg]	[grasp_sample.py: 539]
-05/10 07:16:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:16:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:16:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:16:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:16:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:16:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:16:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:16:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:16:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:16:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:16:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.441s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:16:55 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.114[m] 2.468[deg]	[grasp_sample.py: 539]
-05/10 07:16:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:16:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:16:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:17:03 INFO: [Worker 0] Worker 0 house 1 episode 93 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:17:09 INFO: [Worker 0] Worker 0 house 1 episode 93 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:17:27 INFO: [Worker 0] Worker 0 house 1 episode 91 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:17:27 INFO: [Worker 0] Saved videos eagerly for episode 68 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:17:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 07:17:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:17:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:17:32 INFO: [Worker 0] Saved videos eagerly for episode 63 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:17:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 07:17:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:17:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:17:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:17:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:17:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.50s (batch: 4.41s, save: 10.09s)	[pipeline.py: 300]
-05/10 07:17:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:17:42 INFO: [Worker 0] [PROFILE] Episode 93 house 1 success=True episode_total=0.50s:
-  episode_total: mean=203.49s, total=203.49s, count=1, min=203487.6ms, max=203487.6ms
-  sensor_polling: mean=472.8ms, total=141.83s, count=300, min=389.0ms, max=787.5ms
-  save_trajectories: mean=10.09s, total=10.09s, count=1, min=10087.3ms, max=10087.3ms
-  physics_step: mean=22.1ms, total=6.64s, count=300, min=13.8ms, max=47.8ms
-  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4411.6ms, max=4411.6ms
-  task_sampling: mean=495.6ms, total=495.6ms, count=1, min=495.6ms, max=495.6ms
-  task_specific_sample: mean=491.5ms, total=491.5ms, count=1, min=491.5ms, max=491.5ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=498.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:17:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:17:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:17:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:17:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:17:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:17:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:17:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:17:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:17:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.010m, effective arm-mount z=0.850m (base_body_z=-0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009636m	[env.py: 870]
-05/10 07:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:17:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77882196  0.95048947 -0.00963579] yaw=-145.8deg	[env.py: 1019]
-05/10 07:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85477205  0.69340236 -0.00963579] yaw=-172.1deg	[env.py: 1019]
-05/10 07:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91437775  0.5665727  -0.00963579] yaw=-169.1deg	[env.py: 1019]
-05/10 07:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:17:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.1ms, total=145.1ms	[env.py: 1075]
-05/10 07:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.950, -0.010)	[env.py: 1079]
-05/10 07:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.8 deg	[env.py: 1082]
-05/10 07:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
-05/10 07:17:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:17:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:17:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:17:44 INFO: [Worker 0] Worker 0 house 1 episode 94/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:17:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:17:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:17:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:17:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:17:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.575s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:17:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.594[m] 86.735[deg]	[grasp_sample.py: 539]
-05/10 07:17:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:17:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:17:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.32s (batch: 4.85s, save: 8.47s)	[pipeline.py: 300]
-05/10 07:17:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:17:46 INFO: [Worker 0] [PROFILE] Episode 93 house 1 success=True episode_total=0.44s:
-  episode_total: mean=191.61s, total=191.61s, count=1, min=191606.9ms, max=191606.9ms
-  sensor_polling: mean=476.8ms, total=143.04s, count=300, min=395.4ms, max=838.7ms
-  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8469.3ms, max=8469.3ms
-  physics_step: mean=22.1ms, total=6.63s, count=300, min=15.8ms, max=49.6ms
-  save_batch_prep: mean=4.85s, total=4.85s, count=1, min=4849.4ms, max=4849.4ms
-  task_sampling: mean=437.0ms, total=437.0ms, count=1, min=437.0ms, max=437.0ms
-  task_specific_sample: mean=433.0ms, total=433.0ms, count=1, min=433.0ms, max=433.0ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=504.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:17:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:17:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:17:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:17:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:17:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:17:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:17:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:17:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:17:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:17:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:17:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003737m	[env.py: 870]
-05/10 07:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:17:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65533592  0.55536647 -0.00373686] yaw=-173.6deg	[env.py: 1019]
-05/10 07:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9800891   1.15555203 -0.00373686] yaw=-139.7deg	[env.py: 1019]
-05/10 07:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.80619827  0.3022731  -0.00373686] yaw=170.0deg	[env.py: 1019]
-05/10 07:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:17:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.4ms, total=135.4ms	[env.py: 1075]
-05/10 07:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.655, 0.555, -0.004)	[env.py: 1079]
-05/10 07:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.6 deg	[env.py: 1082]
-05/10 07:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
-05/10 07:17:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:17:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:17:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:17:48 INFO: [Worker 0] Worker 0 house 1 episode 94/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:17:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:17:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:17:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:17:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:17:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.711s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:17:49 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.617[m] 93.675[deg]	[grasp_sample.py: 539]
-05/10 07:17:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:17:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:17:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:17:52 INFO: [Worker 0] Saved videos eagerly for episode 66 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:17:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 07:17:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:18:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:18:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:18:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.36s (batch: 4.49s, save: 8.86s)	[pipeline.py: 300]
-05/10 07:18:06 INFO: [Worker 0] [PROFILE] Episode 91 house 1 success=True episode_total=0.51s:
-  episode_total: mean=195.52s, total=195.52s, count=1, min=195519.9ms, max=195519.9ms
-  sensor_polling: mean=482.9ms, total=144.88s, count=300, min=396.0ms, max=803.2ms
-  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8863.7ms, max=8863.7ms
-  physics_step: mean=21.8ms, total=6.54s, count=300, min=13.8ms, max=50.5ms
-  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4492.2ms, max=4492.2ms
-  task_sampling: mean=510.9ms, total=510.9ms, count=1, min=510.9ms, max=510.9ms
-  task_specific_sample: mean=507.5ms, total=507.5ms, count=1, min=507.5ms, max=507.5ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=384.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:18:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:18:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:18:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:18:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:18:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:18:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:18:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:18:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:18:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037604m	[env.py: 870]
-05/10 07:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:18:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72603228  0.0302928   0.03760377] yaw=161.6deg	[env.py: 1019]
-05/10 07:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96108305  0.61595449  0.03760377] yaw=-175.0deg	[env.py: 1019]
-05/10 07:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:18:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.4ms, total=187.4ms	[env.py: 1075]
-05/10 07:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.726, 0.030, 0.038)	[env.py: 1079]
-05/10 07:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.6 deg	[env.py: 1082]
-05/10 07:18:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
-05/10 07:18:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:18:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:18:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:18:08 INFO: [Worker 0] Worker 0 house 1 episode 92/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:18:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:18:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:18:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:18:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:18:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.610s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:18:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.606[m] 81.744[deg]	[grasp_sample.py: 539]
-05/10 07:18:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:18:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:18:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:18:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:18:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:18:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:18:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:18:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:18:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:18:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:18:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:18:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:18:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:18:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:18:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:18:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:18:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:18:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:18:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:18:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:18:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 84 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:18:49 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.449s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:18:49 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.026[m] 0.686[deg]	[grasp_sample.py: 539]
-05/10 07:18:50 ERROR: [Worker 0] Worker 0 house 1 episode 92 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:18:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:18:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:18:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:18:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:18:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:18:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:18:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:18:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:18:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:18:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:18:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:18:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023012m	[env.py: 870]
-05/10 07:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:18:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04038908  0.13336645  0.02301243] yaw=152.6deg	[env.py: 1019]
-05/10 07:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02206952  0.78809869  0.02301243] yaw=-161.5deg	[env.py: 1019]
-05/10 07:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90069277  0.49633348  0.02301243] yaw=-176.4deg	[env.py: 1019]
-05/10 07:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:18:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.8ms, total=158.9ms	[env.py: 1075]
-05/10 07:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.040, 0.133, 0.023)	[env.py: 1079]
-05/10 07:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.6 deg	[env.py: 1082]
-05/10 07:18:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.748m	[env.py: 1086]
-05/10 07:18:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:18:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:18:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:18:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:18:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:18:52 INFO: [Worker 0] Worker 0 house 1 episode 93/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:18:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:18:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:18:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:18:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:18:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.476s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:18:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.310[m] 96.478[deg]	[grasp_sample.py: 539]
-05/10 07:18:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:18:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:18:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:18:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:18:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:19:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:19:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:19:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:19:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:19:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:19:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:19:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:19:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:20:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:20:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:20:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:20:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:20:17 INFO: [Worker 0] Worker 0 house 1 episode 94 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:20:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:20:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:20:23 INFO: [Worker 0] Worker 0 house 1 episode 94 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:20:37 INFO: [Worker 0] Saved videos eagerly for episode 69 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:20:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 07:20:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:20:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:20:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:20:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:20:43 INFO: [Worker 0] Worker 0 house 1 episode 92 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:20:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:20:46 INFO: [Worker 0] Saved videos eagerly for episode 64 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:20:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 07:20:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:20:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:20:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:20:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:20:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:20:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:20:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:20:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:20:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:20:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:20:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:20:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:20:50 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.83s (batch: 4.81s, save: 9.01s)	[pipeline.py: 300]
-05/10 07:20:51 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.389s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:20:51 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.386[deg]	[grasp_sample.py: 539]
-05/10 07:20:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:20:51 INFO: [Worker 0] [PROFILE] Episode 94 house 1 success=True episode_total=0.43s:
-  episode_total: mean=187.45s, total=187.45s, count=1, min=187447.2ms, max=187447.2ms
-  sensor_polling: mean=470.9ms, total=141.28s, count=300, min=393.5ms, max=734.5ms
-  save_trajectories: mean=9.01s, total=9.01s, count=1, min=9014.3ms, max=9014.3ms
-  physics_step: mean=21.7ms, total=6.52s, count=300, min=13.7ms, max=46.8ms
-  save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4811.4ms, max=4811.4ms
-  task_sampling: mean=428.5ms, total=428.5ms, count=1, min=428.5ms, max=428.5ms
-  task_specific_sample: mean=425.1ms, total=425.1ms, count=1, min=425.1ms, max=425.1ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=375.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=27.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:20:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:20:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:20:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:20:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:20:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:20:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:20:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:20:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:20:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:20:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:20:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020880m	[env.py: 870]
-05/10 07:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:20:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69828862  0.2446009   0.02087993] yaw=176.5deg	[env.py: 1019]
-05/10 07:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.06086243  1.06207489  0.02087993] yaw=-140.5deg	[env.py: 1019]
-05/10 07:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.04157196  1.0388462   0.02087993] yaw=-138.7deg	[env.py: 1019]
-05/10 07:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:20:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.7ms, total=147.7ms	[env.py: 1075]
-05/10 07:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.698, 0.245, 0.021)	[env.py: 1079]
-05/10 07:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.5 deg	[env.py: 1082]
-05/10 07:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
-05/10 07:20:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:20:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:20:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:20:53 INFO: [Worker 0] Worker 0 house 1 episode 95/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:20:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:20:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:20:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:20:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:20:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.460s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:20:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.589[m] 90.845[deg]	[grasp_sample.py: 539]
-05/10 07:20:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:20:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:20:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:20:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:20:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:20:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:20:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.40s (batch: 4.12s, save: 8.28s)	[pipeline.py: 300]
-05/10 07:20:59 INFO: [Worker 0] [PROFILE] Episode 94 house 1 success=True episode_total=0.60s:
-  episode_total: mean=190.93s, total=190.93s, count=1, min=190928.8ms, max=190928.8ms
-  sensor_polling: mean=476.8ms, total=143.03s, count=300, min=397.8ms, max=792.8ms
-  save_trajectories: mean=8.28s, total=8.28s, count=1, min=8282.7ms, max=8282.7ms
-  physics_step: mean=23.4ms, total=7.02s, count=300, min=16.4ms, max=96.8ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4120.8ms, max=4120.8ms
-  task_sampling: mean=601.1ms, total=601.1ms, count=1, min=601.1ms, max=601.1ms
-  task_specific_sample: mean=597.8ms, total=597.8ms, count=1, min=597.8ms, max=597.8ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=389.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:21:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:21:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:21:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:21:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:21:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:21:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:21:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:21:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:21:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:21:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:21:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018375m	[env.py: 870]
-05/10 07:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:21:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64483818  0.34986559  0.01837473] yaw=170.6deg	[env.py: 1019]
-05/10 07:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94055512  0.3738401   0.01837473] yaw=181.9deg	[env.py: 1019]
-05/10 07:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:21:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=183.1ms, total=183.2ms	[env.py: 1075]
-05/10 07:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.645, 0.350, 0.018)	[env.py: 1079]
-05/10 07:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.6 deg	[env.py: 1082]
-05/10 07:21:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m	[env.py: 1086]
-05/10 07:21:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:21:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:21:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:21:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:21:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:21:01 INFO: [Worker 0] Worker 0 house 1 episode 95/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:21:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:21:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:21:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:21:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:21:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.059s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:21:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.595[m] 83.405[deg]	[grasp_sample.py: 539]
-05/10 07:21:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:21:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:21:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:21:06 INFO: [Worker 0] Saved videos eagerly for episode 67 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:21:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 07:21:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:21:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:21:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:21:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:21:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:21:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.95s (batch: 4.83s, save: 9.12s)	[pipeline.py: 300]
-05/10 07:21:21 INFO: [Worker 0] [PROFILE] Episode 92 house 1 success=True episode_total=0.45s:
-  episode_total: mean=193.16s, total=193.16s, count=1, min=193158.9ms, max=193158.9ms
-  sensor_polling: mean=477.4ms, total=143.22s, count=300, min=393.6ms, max=744.3ms
-  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9117.1ms, max=9117.1ms
-  physics_step: mean=23.0ms, total=6.91s, count=300, min=13.8ms, max=60.6ms
-  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4830.7ms, max=4830.7ms
-  task_sampling: mean=445.3ms, total=445.3ms, count=1, min=445.3ms, max=445.3ms
-  task_specific_sample: mean=441.8ms, total=441.8ms, count=1, min=441.8ms, max=441.8ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=386.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:21:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:21:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:21:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:21:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:21:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:21:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:21:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:21:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:21:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:21:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:21:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018042m	[env.py: 870]
-05/10 07:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:21:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80735439  0.91020583  0.0180424 ] yaw=-162.3deg	[env.py: 1019]
-05/10 07:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.64120645  0.67788002  0.0180424 ] yaw=-165.8deg	[env.py: 1019]
-05/10 07:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00952009  0.71601692  0.0180424 ] yaw=-159.7deg	[env.py: 1019]
-05/10 07:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:21:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.8ms, total=213.8ms	[env.py: 1075]
-05/10 07:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.807, 0.910, 0.018)	[env.py: 1079]
-05/10 07:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.3 deg	[env.py: 1082]
-05/10 07:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
-05/10 07:21:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:21:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:21:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:21:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:21:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:21:23 INFO: [Worker 0] Worker 0 house 1 episode 93/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:21:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:21:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:21:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:21:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:21:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.518s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:21:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.591[m] 90.556[deg]	[grasp_sample.py: 539]
-05/10 07:21:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:21:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:21:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:21:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:21:56 INFO: [Worker 0] Worker 0 house 1 episode 93 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:22:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:22:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:22:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:22:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:22:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:22:22 INFO: [Worker 0] Saved videos eagerly for episode 70 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:22:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 07:22:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:22:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:22:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:22:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:22:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:22:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.37s (batch: 4.22s, save: 8.15s)	[pipeline.py: 300]
-05/10 07:22:35 INFO: [Worker 0] [PROFILE] Episode 93 house 1 success=True episode_total=0.86s:
-  episode_total: mean=172.96s, total=345.92s, count=2, min=122707.4ms, max=223211.7ms
-  sensor_polling: mean=478.1ms, total=233.77s, count=489, min=393.8ms, max=905.0ms
-  physics_step: mean=23.4ms, total=11.45s, count=489, min=13.7ms, max=113.9ms
-  save_trajectories: mean=8.15s, total=8.15s, count=1, min=8145.9ms, max=8145.9ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4224.2ms, max=4224.2ms
-  task_sampling: mean=432.3ms, total=864.5ms, count=2, min=422.9ms, max=441.6ms
-  task_specific_sample: mean=428.4ms, total=856.9ms, count=2, min=419.6ms, max=437.3ms
-  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.5ms, max=2.8ms
-  mj_forward_sync: mean=511.6us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:22:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:22:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:22:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:22:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:22:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:22:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:22:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:22:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:22:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009291m	[env.py: 870]
-05/10 07:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:22:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82946924  0.61608509  0.00929137] yaw=-162.5deg	[env.py: 1019]
-05/10 07:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68515775  0.54234219  0.00929137] yaw=-185.3deg	[env.py: 1019]
-05/10 07:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.66755166  0.81498967  0.00929137] yaw=-166.0deg	[env.py: 1019]
-05/10 07:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:22:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=476.8ms, total=476.9ms	[env.py: 1075]
-05/10 07:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.616, 0.009)	[env.py: 1079]
-05/10 07:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.5 deg	[env.py: 1082]
-05/10 07:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
-05/10 07:22:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:22:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:22:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:22:38 INFO: [Worker 0] Worker 0 house 1 episode 94/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:22:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:22:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:22:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:22:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:22:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:22:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.136s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:22:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.413[m] 81.466[deg]	[grasp_sample.py: 539]
-05/10 07:22:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:22:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:22:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:23:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:23:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:23:34 INFO: [Worker 0] Worker 0 house 1 episode 95 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:23:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:23:42 INFO: [Worker 0] Worker 0 house 1 episode 95 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:23:58 INFO: [Worker 0] Saved videos eagerly for episode 70 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:23:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 07:23:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:24:01 INFO: [Worker 0] Worker 0 house 1 episode 93 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:24:04 INFO: [Worker 0] Saved videos eagerly for episode 65 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:24:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 07:24:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:24:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:24:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:24:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.69s (batch: 4.15s, save: 8.54s)	[pipeline.py: 300]
-05/10 07:24:11 INFO: [Worker 0] [PROFILE] Episode 95 house 1 success=True episode_total=0.43s:
-  episode_total: mean=198.57s, total=198.57s, count=1, min=198566.8ms, max=198566.8ms
-  sensor_polling: mean=489.8ms, total=146.93s, count=300, min=407.5ms, max=1007.4ms
-  save_trajectories: mean=8.54s, total=8.54s, count=1, min=8535.2ms, max=8535.2ms
-  physics_step: mean=24.7ms, total=7.40s, count=300, min=16.5ms, max=88.4ms
-  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4151.0ms, max=4151.0ms
-  task_sampling: mean=434.6ms, total=434.6ms, count=1, min=434.6ms, max=434.6ms
-  task_specific_sample: mean=431.0ms, total=431.0ms, count=1, min=431.0ms, max=431.0ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=403.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:24:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:24:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:24:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:24:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:24:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:24:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:24:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:24:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:24:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:24:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:24:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047447m	[env.py: 870]
-05/10 07:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:24:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86256741  0.76468305  0.04744725] yaw=-153.3deg	[env.py: 1019]
-05/10 07:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71969734  0.15515369  0.04744725] yaw=155.2deg	[env.py: 1019]
-05/10 07:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.11069078  1.04919953  0.04744725] yaw=-133.8deg	[env.py: 1019]
-05/10 07:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:24:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.4ms, total=148.4ms	[env.py: 1075]
-05/10 07:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.863, 0.765, 0.047)	[env.py: 1079]
-05/10 07:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.3 deg	[env.py: 1082]
-05/10 07:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
-05/10 07:24:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:24:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:24:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:24:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:24:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:24:13 INFO: [Worker 0] Worker 0 house 1 episode 96/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:24:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:24:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:24:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:24:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:24:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.531s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:24:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.447[m] 88.958[deg]	[grasp_sample.py: 539]
-05/10 07:24:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:24:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:24:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:24:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:24:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:24:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.25s (batch: 4.34s, save: 7.91s)	[pipeline.py: 300]
-05/10 07:24:17 INFO: [Worker 0] [PROFILE] Episode 95 house 1 success=True episode_total=0.46s:
-  episode_total: mean=196.52s, total=196.52s, count=1, min=196516.1ms, max=196516.1ms
-  sensor_polling: mean=492.4ms, total=147.72s, count=300, min=409.4ms, max=996.6ms
-  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7905.6ms, max=7905.6ms
-  physics_step: mean=23.9ms, total=7.18s, count=300, min=16.5ms, max=58.5ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4343.2ms, max=4343.2ms
-  task_sampling: mean=457.7ms, total=457.7ms, count=1, min=457.7ms, max=457.7ms
-  task_specific_sample: mean=453.1ms, total=453.1ms, count=1, min=453.1ms, max=453.1ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=592.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:24:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:24:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:24:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:24:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:24:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:24:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:24:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:24:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:24:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037554m	[env.py: 870]
-05/10 07:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:24:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67765084  0.13937197  0.03755411] yaw=156.2deg	[env.py: 1019]
-05/10 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65194668  0.20419628  0.03755411] yaw=163.1deg	[env.py: 1019]
-05/10 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82662409  0.72393148  0.03755411] yaw=-160.2deg	[env.py: 1019]
-05/10 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:24:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=367.3ms, total=367.4ms	[env.py: 1075]
-05/10 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.678, 0.139, 0.038)	[env.py: 1079]
-05/10 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.2 deg	[env.py: 1082]
-05/10 07:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
-05/10 07:24:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:24:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:24:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:24:19 INFO: [Worker 0] Worker 0 house 1 episode 96/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:24:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:24:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:24:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:24:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:24:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.491s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:24:22 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.631[m] 87.998[deg]	[grasp_sample.py: 539]
-05/10 07:24:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:24:22 INFO: [Worker 0] Saved videos eagerly for episode 68 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:24:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 07:24:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:24:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:24:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:24:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:24:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:24:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.11s (batch: 3.85s, save: 7.27s)	[pipeline.py: 300]
-05/10 07:24:34 INFO: [Worker 0] [PROFILE] Episode 93 house 1 success=True episode_total=0.48s:
-  episode_total: mean=191.47s, total=191.47s, count=1, min=191470.8ms, max=191470.8ms
-  sensor_polling: mean=486.5ms, total=145.95s, count=300, min=394.9ms, max=955.5ms
-  save_trajectories: mean=7.27s, total=7.27s, count=1, min=7265.0ms, max=7265.0ms
-  physics_step: mean=22.1ms, total=6.63s, count=300, min=14.4ms, max=55.8ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3845.7ms, max=3845.7ms
-  task_sampling: mean=477.0ms, total=477.0ms, count=1, min=477.0ms, max=477.0ms
-  task_specific_sample: mean=473.6ms, total=473.6ms, count=1, min=473.6ms, max=473.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=392.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:24:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:24:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:24:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:24:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:24:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:24:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:24:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:24:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:24:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:24:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:24:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.000m, effective arm-mount z=0.860m (base_body_z=-0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000306m	[env.py: 870]
-05/10 07:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:24:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-7.26393509e-01  6.70665621e-01 -3.05630118e-04] yaw=-170.3deg	[env.py: 1019]
-05/10 07:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00660603e+00  6.12728392e-01 -3.05630118e-04] yaw=-167.5deg	[env.py: 1019]
-05/10 07:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-7.82175966e-01  6.01106590e-01 -3.05630118e-04] yaw=-171.6deg	[env.py: 1019]
-05/10 07:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:24:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.3ms, total=138.4ms	[env.py: 1075]
-05/10 07:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.726, 0.671, -0.000)	[env.py: 1079]
-05/10 07:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.3 deg	[env.py: 1082]
-05/10 07:24:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
-05/10 07:24:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:24:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:24:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:24:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:24:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:24:36 INFO: [Worker 0] Worker 0 house 1 episode 94/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:24:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:24:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:24:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:24:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:24:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:24:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.508[m] 78.868[deg]	[grasp_sample.py: 539]
-05/10 07:24:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:24:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:24:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:24:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:25:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:25:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:25:12 INFO: [Worker 0] Worker 0 house 1 episode 94 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:25:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:25:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:25:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:25:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:25:36 INFO: [Worker 0] Saved videos eagerly for episode 71 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:25:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 07:25:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:25:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:25:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:25:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:25:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:25:50 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.74s (batch: 4.01s, save: 10.72s)	[pipeline.py: 300]
-05/10 07:25:51 INFO: [Worker 0] [PROFILE] Episode 94 house 1 success=True episode_total=0.75s:
-  episode_total: mean=194.09s, total=194.09s, count=1, min=194093.8ms, max=194093.8ms
-  sensor_polling: mean=469.9ms, total=140.97s, count=300, min=398.1ms, max=905.3ms
-  save_trajectories: mean=10.72s, total=10.72s, count=1, min=10724.7ms, max=10724.7ms
-  physics_step: mean=22.0ms, total=6.61s, count=300, min=16.5ms, max=50.0ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4012.8ms, max=4012.8ms
-  task_sampling: mean=747.7ms, total=747.7ms, count=1, min=747.7ms, max=747.7ms
-  task_specific_sample: mean=743.7ms, total=743.7ms, count=1, min=743.7ms, max=743.7ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=575.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:25:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:25:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:25:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:25:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:25:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:25:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:25:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:25:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:25:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011375m	[env.py: 870]
-05/10 07:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:25:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98096952  0.64825696 -0.01137486] yaw=-158.4deg	[env.py: 1019]
-05/10 07:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75623695 -0.01764055 -0.01137486] yaw=161.6deg	[env.py: 1019]
-05/10 07:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94692752  0.68856004 -0.01137486] yaw=-158.3deg	[env.py: 1019]
-05/10 07:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:25:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.8ms, total=97.9ms	[env.py: 1075]
-05/10 07:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.981, 0.648, -0.011)	[env.py: 1079]
-05/10 07:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg	[env.py: 1082]
-05/10 07:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.740m	[env.py: 1086]
-05/10 07:25:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:25:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:25:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:25:53 INFO: [Worker 0] Worker 0 house 1 episode 95/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:25:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:25:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:25:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:25:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:25:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.774s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:25:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.356[m] 98.763[deg]	[grasp_sample.py: 539]
-05/10 07:25:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:25:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:25:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:26:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:26:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:26:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:26:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:26:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:26:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:26:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:26:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:26:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:26:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:26:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:26:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:26:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:26:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:26:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:26:42 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.481s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:26:42 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.031[m] 3.945[deg]	[grasp_sample.py: 539]
-05/10 07:26:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:26:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:26:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:26:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:26:46 INFO: [Worker 0] Worker 0 house 1 episode 96 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:26:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:26:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:27:00 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 07:27:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:27:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:27:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:27:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 68 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:27:01 INFO: [Worker 0] Feasibility-checked 68 grasps in 0.459s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:27:01 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.030[m] 3.937[deg]	[grasp_sample.py: 539]
-05/10 07:27:02 ERROR: [Worker 0] Worker 0 house 1 episode 96 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:27:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:27:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:27:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:27:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:27:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:27:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:27:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:27:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:27:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:27:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:27:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041960m	[env.py: 870]
-05/10 07:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:27:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72320885  0.9077188   0.04196035] yaw=-160.0deg	[env.py: 1019]
-05/10 07:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65033395  0.29124551  0.04196035] yaw=173.7deg	[env.py: 1019]
-05/10 07:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85394759  0.90720163  0.04196035] yaw=-153.4deg	[env.py: 1019]
-05/10 07:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:27:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.4ms, total=196.4ms	[env.py: 1075]
-05/10 07:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.723, 0.908, 0.042)	[env.py: 1079]
-05/10 07:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.0 deg	[env.py: 1082]
-05/10 07:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
-05/10 07:27:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:27:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:27:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:27:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:27:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:27:04 INFO: [Worker 0] Worker 0 house 1 episode 97/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:27:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:27:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:27:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:27:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:27:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.377s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:27:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.632[m] 86.617[deg]	[grasp_sample.py: 539]
-05/10 07:27:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:27:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:27:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:27:09 INFO: [Worker 0] Saved videos eagerly for episode 71 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:27:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 07:27:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:27:10 INFO: [Worker 0] Worker 0 house 1 episode 94 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:27:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:27:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:27:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.36s (batch: 4.21s, save: 9.16s)	[pipeline.py: 300]
-05/10 07:27:22 INFO: [Worker 0] [PROFILE] Episode 96 house 1 success=True episode_total=0.41s:
-  episode_total: mean=189.76s, total=189.76s, count=1, min=189763.3ms, max=189763.3ms
-  sensor_polling: mean=473.2ms, total=141.95s, count=300, min=400.0ms, max=805.8ms
-  save_trajectories: mean=9.16s, total=9.16s, count=1, min=9155.9ms, max=9155.9ms
-  physics_step: mean=22.4ms, total=6.73s, count=300, min=14.4ms, max=67.3ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4207.2ms, max=4207.2ms
-  task_sampling: mean=406.4ms, total=406.4ms, count=1, min=406.4ms, max=406.4ms
-  task_specific_sample: mean=403.1ms, total=403.1ms, count=1, min=403.1ms, max=403.1ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=372.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:27:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:27:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:27:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:27:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:27:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:27:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:27:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:27:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:27:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:27:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:27:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014798m	[env.py: 870]
-05/10 07:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:27:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79100646  0.05800097 -0.01479837] yaw=148.6deg	[env.py: 1019]
-05/10 07:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06835668  1.04537707 -0.01479837] yaw=-143.1deg	[env.py: 1019]
-05/10 07:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77970908  1.03664899 -0.01479837] yaw=-142.3deg	[env.py: 1019]
-05/10 07:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:27:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.8ms, total=106.9ms	[env.py: 1075]
-05/10 07:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.791, 0.058, -0.015)	[env.py: 1079]
-05/10 07:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.6 deg	[env.py: 1082]
-05/10 07:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
-05/10 07:27:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:27:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:27:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:27:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:27:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:27:25 INFO: [Worker 0] Worker 0 house 1 episode 97/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:27:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:27:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:27:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:27:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:27:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.492s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:27:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.527[m] 81.516[deg]	[grasp_sample.py: 539]
-05/10 07:27:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:27:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:27:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:27:34 INFO: [Worker 0] Saved videos eagerly for episode 69 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:27:34 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 07:27:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:27:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:27:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:27:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.95s (batch: 4.12s, save: 8.84s)	[pipeline.py: 300]
-05/10 07:27:48 INFO: [Worker 0] [PROFILE] Episode 94 house 1 success=True episode_total=0.40s:
-  episode_total: mean=192.86s, total=192.86s, count=1, min=192858.6ms, max=192858.6ms
-  sensor_polling: mean=477.7ms, total=143.31s, count=300, min=396.5ms, max=895.7ms
-  save_trajectories: mean=8.84s, total=8.84s, count=1, min=8836.7ms, max=8836.7ms
-  physics_step: mean=23.6ms, total=7.09s, count=300, min=13.9ms, max=78.8ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4117.7ms, max=4117.7ms
-  task_sampling: mean=395.8ms, total=395.8ms, count=1, min=395.8ms, max=395.8ms
-  task_specific_sample: mean=392.4ms, total=392.4ms, count=1, min=392.4ms, max=392.4ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=369.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:27:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:27:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:27:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:27:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:27:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:27:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:27:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:27:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:27:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:27:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:27:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003679m	[env.py: 870]
-05/10 07:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:27:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95457206  0.76713138 -0.00367874] yaw=-149.5deg	[env.py: 1019]
-05/10 07:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:27:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=176.1ms, total=176.1ms	[env.py: 1075]
-05/10 07:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.955, 0.767, -0.004)	[env.py: 1079]
-05/10 07:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.5 deg	[env.py: 1082]
-05/10 07:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m	[env.py: 1086]
-05/10 07:27:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:27:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:27:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:27:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:27:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:27:50 INFO: [Worker 0] Worker 0 house 1 episode 95/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:27:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:27:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:27:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:27:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:27:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.502s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:27:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.338[m] 85.471[deg]	[grasp_sample.py: 539]
-05/10 07:27:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:27:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:27:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:28:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:28:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:28:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:28:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:28:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:28:26 INFO: [Worker 0] Worker 0 house 1 episode 95 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:28:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:28:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:28:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:28:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:28:49 INFO: [Worker 0] Saved videos eagerly for episode 72 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:28:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 07:28:49 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
-05/10 07:29:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:29:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:29:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.82s (batch: 4.35s, save: 10.47s)	[pipeline.py: 300]
-05/10 07:29:04 INFO: [Worker 0] [PROFILE] Episode 95 house 1 success=True episode_total=0.36s:
-  episode_total: mean=191.29s, total=191.29s, count=1, min=191292.5ms, max=191292.5ms
-  sensor_polling: mean=478.7ms, total=141.21s, count=295, min=397.7ms, max=848.5ms
-  save_trajectories: mean=10.47s, total=10.47s, count=1, min=10466.2ms, max=10466.2ms
-  physics_step: mean=22.6ms, total=6.68s, count=295, min=16.7ms, max=63.7ms
-  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4353.3ms, max=4353.3ms
-  task_sampling: mean=362.8ms, total=362.8ms, count=1, min=362.8ms, max=362.8ms
-  task_specific_sample: mean=354.2ms, total=354.2ms, count=1, min=354.2ms, max=354.2ms
-  scene_randomize: mean=7.2ms, total=7.2ms, count=1, min=7.2ms, max=7.2ms
-  mj_forward_sync: mean=462.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:29:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:29:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:29:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:29:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:29:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:29:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:29:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:29:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:29:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042132m	[env.py: 870]
-05/10 07:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:29:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.17365216  1.14713158  0.04213174] yaw=-124.6deg	[env.py: 1019]
-05/10 07:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84422613  0.76818276  0.04213174] yaw=-154.5deg	[env.py: 1019]
-05/10 07:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98338468  0.12782894  0.04213174] yaw=147.3deg	[env.py: 1019]
-05/10 07:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:29:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=522.1ms, total=522.1ms	[env.py: 1075]
-05/10 07:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.174, 1.147, 0.042)	[env.py: 1079]
-05/10 07:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.6 deg	[env.py: 1082]
-05/10 07:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
-05/10 07:29:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:29:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:29:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:29:07 INFO: [Worker 0] Worker 0 house 1 episode 96/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:29:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:29:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:29:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:29:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:29:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.301s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:29:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.398[m] 89.882[deg]	[grasp_sample.py: 539]
-05/10 07:29:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:29:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:29:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:29:39 INFO: [Worker 0] Worker 0 house 1 episode 97 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:29:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:29:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:30:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:30:01 INFO: [Worker 0] Saved videos eagerly for episode 66 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:30:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 07:30:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:30:02 INFO: [Worker 0] Worker 0 house 1 episode 97 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:30:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:30:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:30:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.93s (batch: 4.74s, save: 9.20s)	[pipeline.py: 300]
-05/10 07:30:16 INFO: [Worker 0] [PROFILE] Episode 97 house 1 success=True episode_total=1.08s:
-  episode_total: mean=178.10s, total=356.21s, count=2, min=163628.2ms, max=192580.0ms
-  sensor_polling: mean=476.7ms, total=279.34s, count=586, min=398.0ms, max=949.9ms
-  physics_step: mean=21.9ms, total=12.81s, count=586, min=13.7ms, max=48.0ms
-  save_trajectories: mean=9.20s, total=9.20s, count=1, min=9195.3ms, max=9195.3ms
-  save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4735.1ms, max=4735.1ms
-  task_sampling: mean=542.4ms, total=1.08s, count=2, min=441.3ms, max=643.5ms
-  task_specific_sample: mean=539.0ms, total=1.08s, count=2, min=438.3ms, max=639.7ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.5ms
-  mj_forward_sync: mean=392.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:30:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:30:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:30:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:30:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:30:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:30:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:30:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:30:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:30:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002759m	[env.py: 870]
-05/10 07:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:30:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:30:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=256.9ms, total=256.9ms	[env.py: 1105]
-05/10 07:30:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 07:30:18 ERROR: [Worker 0] Worker 0 house 1 episode 98 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 07:30:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:30:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:30:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:30:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:30:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:30:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:30:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:30:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:30:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:30:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:30:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015753m	[env.py: 870]
-05/10 07:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:30:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83509182  0.54596393 -0.01575265] yaw=-178.6deg	[env.py: 1019]
-05/10 07:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98392075  0.514173   -0.01575265] yaw=-179.7deg	[env.py: 1019]
-05/10 07:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:30:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=256.0ms, total=256.0ms	[env.py: 1075]
-05/10 07:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.835, 0.546, -0.016)	[env.py: 1079]
-05/10 07:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.6 deg	[env.py: 1082]
-05/10 07:30:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m	[env.py: 1086]
-05/10 07:30:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:30:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:30:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:30:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:30:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:30:20 INFO: [Worker 0] Worker 0 house 1 episode 99/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:30:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:30:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:30:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:30:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:30:21 INFO: [Worker 0] Worker 0 house 1 episode 95 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:30:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.430s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:30:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.476[m] 100.629[deg]	[grasp_sample.py: 539]
-05/10 07:30:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:30:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:30:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:30:24 INFO: [Worker 0] Saved videos eagerly for episode 72 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:30:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 07:30:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:30:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:30:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:30:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.47s (batch: 4.03s, save: 8.43s)	[pipeline.py: 300]
-05/10 07:30:37 INFO: [Worker 0] [PROFILE] Episode 97 house 1 success=True episode_total=0.47s:
-  episode_total: mean=192.99s, total=192.99s, count=1, min=192992.2ms, max=192992.2ms
-  sensor_polling: mean=481.9ms, total=144.57s, count=300, min=405.3ms, max=820.5ms
-  save_trajectories: mean=8.43s, total=8.43s, count=1, min=8432.1ms, max=8432.1ms
-  physics_step: mean=24.8ms, total=7.45s, count=300, min=14.2ms, max=139.9ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4034.5ms, max=4034.5ms
-  task_sampling: mean=469.5ms, total=469.5ms, count=1, min=469.5ms, max=469.5ms
-  task_specific_sample: mean=466.0ms, total=466.0ms, count=1, min=466.0ms, max=466.0ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=457.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:30:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:30:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:30:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:30:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:30:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:30:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:30:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:30:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:30:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:30:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:30:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020749m	[env.py: 870]
-05/10 07:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:30:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98732379  1.18659344  0.02074859] yaw=-133.1deg	[env.py: 1019]
-05/10 07:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9741616   0.49161789  0.02074859] yaw=-184.1deg	[env.py: 1019]
-05/10 07:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77195985  0.94083902  0.02074859] yaw=-143.1deg	[env.py: 1019]
-05/10 07:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:30:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.9ms, total=170.9ms	[env.py: 1075]
-05/10 07:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.987, 1.187, 0.021)	[env.py: 1079]
-05/10 07:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg	[env.py: 1082]
-05/10 07:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m	[env.py: 1086]
-05/10 07:30:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:30:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:30:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:30:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:30:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:30:39 INFO: [Worker 0] Worker 0 house 1 episode 98/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:30:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:30:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:30:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:30:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:30:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.547s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:30:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.534[m] 86.719[deg]	[grasp_sample.py: 539]
-05/10 07:30:42 ERROR: [Worker 0] Worker 0 house 1 episode 98 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:30:43 INFO: [Worker 0] Saved videos eagerly for episode 70 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:30:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 07:30:43 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
-05/10 07:30:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:30:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:30:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:30:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:30:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:30:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:30:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:30:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:30:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:30:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:30:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042731m	[env.py: 870]
-05/10 07:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:30:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89626582  0.19605776 -0.04273147] yaw=171.6deg	[env.py: 1019]
-05/10 07:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94520058  0.31508773 -0.04273147] yaw=178.1deg	[env.py: 1019]
-05/10 07:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00840756  0.35438421 -0.04273147] yaw=173.1deg	[env.py: 1019]
-05/10 07:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:30:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=89.1ms, total=89.1ms	[env.py: 1075]
-05/10 07:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.196, -0.043)	[env.py: 1079]
-05/10 07:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.6 deg	[env.py: 1082]
-05/10 07:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
-05/10 07:30:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:30:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:30:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:30:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:30:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:30:44 INFO: [Worker 0] Worker 0 house 1 episode 99/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:30:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:30:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:30:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:30:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:30:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:30:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.429[m] 93.181[deg]	[grasp_sample.py: 539]
-05/10 07:30:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:30:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:30:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:30:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:30:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:30:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.60s (batch: 3.97s, save: 7.63s)	[pipeline.py: 300]
-05/10 07:30:55 INFO: [Worker 0] [PROFILE] Episode 95 house 1 success=True episode_total=0.48s:
-  episode_total: mean=185.01s, total=185.01s, count=1, min=185014.7ms, max=185014.7ms
-  sensor_polling: mean=482.5ms, total=139.44s, count=289, min=385.9ms, max=850.4ms
-  save_trajectories: mean=7.63s, total=7.63s, count=1, min=7632.7ms, max=7632.7ms
-  physics_step: mean=22.3ms, total=6.44s, count=289, min=13.7ms, max=63.6ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3971.7ms, max=3971.7ms
-  task_sampling: mean=477.5ms, total=477.5ms, count=1, min=477.5ms, max=477.5ms
-  task_specific_sample: mean=473.8ms, total=473.8ms, count=1, min=473.8ms, max=473.8ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=425.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:30:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:30:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:30:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:30:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:30:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:30:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:30:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:30:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:30:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021695m	[env.py: 870]
-05/10 07:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:30:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13511763  0.90497758  0.02169517] yaw=-136.3deg	[env.py: 1019]
-05/10 07:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88929932  0.2637797   0.02169517] yaw=173.9deg	[env.py: 1019]
-05/10 07:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:30:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=235.8ms, total=235.8ms	[env.py: 1075]
-05/10 07:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.135, 0.905, 0.022)	[env.py: 1079]
-05/10 07:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.3 deg	[env.py: 1082]
-05/10 07:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.708m	[env.py: 1086]
-05/10 07:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:30:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:30:57 INFO: [Worker 0] Worker 0 house 1 episode 96/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:30:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:30:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:30:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:30:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:30:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.472s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:30:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.281[m] 90.059[deg]	[grasp_sample.py: 539]
-05/10 07:30:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:30:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:30:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:30:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:31:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:31:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:31:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:31:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:31:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:31:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:31:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:31:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:31:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:31:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:31:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:31:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:31:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:31:11 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.928s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:31:11 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.276[deg]	[grasp_sample.py: 539]
-05/10 07:31:12 ERROR: [Worker 0] Worker 0 house 1 episode 96 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:31:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:31:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:31:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:31:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:31:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:31:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:31:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:31:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:31:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004662m	[env.py: 870]
-05/10 07:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:31:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83274465  0.86928405  0.00466193] yaw=-157.1deg	[env.py: 1019]
-05/10 07:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97829943  1.18571725  0.00466193] yaw=-139.1deg	[env.py: 1019]
-05/10 07:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80642344  0.92757762  0.00466193] yaw=-156.5deg	[env.py: 1019]
-05/10 07:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:31:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.3ms, total=143.3ms	[env.py: 1075]
-05/10 07:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.869, 0.005)	[env.py: 1079]
-05/10 07:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.1 deg	[env.py: 1082]
-05/10 07:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
-05/10 07:31:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:31:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:31:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:31:15 INFO: [Worker 0] Worker 0 house 1 episode 97/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:31:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:31:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:31:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:31:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:31:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:31:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.734s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:31:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.536[m] 86.038[deg]	[grasp_sample.py: 539]
-05/10 07:31:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:31:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:31:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:31:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:31:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:31:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:31:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:31:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:31:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:31:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:32:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:32:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:32:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:32:54 INFO: [Worker 0] Worker 0 house 1 episode 99 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:33:19 INFO: [Worker 0] Saved videos eagerly for episode 67 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:33:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 07:33:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:33:21 INFO: [Worker 0] Worker 0 house 1 episode 96 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:33:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:33:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:33:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.47s (batch: 5.28s, save: 9.20s)	[pipeline.py: 300]
-05/10 07:33:35 INFO: [Worker 0] [PROFILE] Episode 99 house 1 success=True episode_total=0.51s:
-  episode_total: mean=97.68s, total=195.35s, count=2, min=269.2ms, max=195085.6ms
-  sensor_polling: mean=473.1ms, total=141.92s, count=300, min=393.5ms, max=996.4ms
-  save_trajectories: mean=9.20s, total=9.20s, count=1, min=9195.3ms, max=9195.3ms
-  physics_step: mean=21.6ms, total=6.49s, count=300, min=14.2ms, max=51.4ms
-  save_batch_prep: mean=5.28s, total=5.28s, count=1, min=5278.0ms, max=5278.0ms
-  task_specific_sample: mean=383.7ms, total=767.3ms, count=2, min=261.8ms, max=505.5ms
-  task_sampling: mean=508.1ms, total=508.1ms, count=1, min=508.1ms, max=508.1ms
-  task_sampling_failed: mean=269.2ms, total=269.2ms, count=1, min=269.2ms, max=269.2ms
-  scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.1ms, max=2.1ms
-  mj_forward_sync: mean=378.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:33:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:33:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:33:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:33:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:33:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:33:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:33:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:33:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:33:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038531m	[env.py: 870]
-05/10 07:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:33:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.13203428  1.02242035  0.03853144] yaw=-146.9deg	[env.py: 1019]
-05/10 07:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 132.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73041088 -0.01750672  0.03853144] yaw=143.0deg	[env.py: 1019]
-05/10 07:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83758323  0.37685695  0.03853144] yaw=174.5deg	[env.py: 1019]
-05/10 07:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:33:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=215.5ms, total=215.5ms	[env.py: 1075]
-05/10 07:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.132, 1.022, 0.039)	[env.py: 1079]
-05/10 07:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.9 deg	[env.py: 1082]
-05/10 07:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
-05/10 07:33:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:33:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:33:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:33:37 INFO: [Worker 0] Worker 0 house 1 episode 100/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:33:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:33:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:33:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:33:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:33:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.487s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:33:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.369[m] 92.112[deg]	[grasp_sample.py: 539]
-05/10 07:33:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:33:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:33:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:33:41 INFO: [Worker 0] Saved videos eagerly for episode 71 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:33:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 07:33:41 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
-05/10 07:33:47 INFO: [Worker 0] Worker 0 house 1 episode 97 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:33:47 INFO: [Worker 0] Worker 0 house 1 episode 99 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:33:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:33:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:33:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.71s (batch: 3.78s, save: 7.93s)	[pipeline.py: 300]
-05/10 07:33:54 INFO: [Worker 0] [PROFILE] Episode 96 house 1 success=True episode_total=0.50s:
-  episode_total: mean=177.31s, total=177.31s, count=1, min=177312.9ms, max=177312.9ms
-  sensor_polling: mean=480.5ms, total=133.58s, count=278, min=388.4ms, max=982.6ms
-  save_trajectories: mean=7.93s, total=7.93s, count=1, min=7925.4ms, max=7925.4ms
-  physics_step: mean=23.2ms, total=6.45s, count=278, min=14.0ms, max=62.8ms
-  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3780.6ms, max=3780.6ms
-  task_sampling: mean=503.3ms, total=503.3ms, count=1, min=503.3ms, max=503.3ms
-  task_specific_sample: mean=499.9ms, total=499.9ms, count=1, min=499.9ms, max=499.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=382.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:33:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:33:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:33:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:33:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:33:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:33:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:33:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:33:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:33:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:33:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:33:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049271m	[env.py: 870]
-05/10 07:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:33:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01080001  1.12275156  0.04927093] yaw=-143.0deg	[env.py: 1019]
-05/10 07:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79937088  0.89097919  0.04927093] yaw=-163.5deg	[env.py: 1019]
-05/10 07:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.13628552  1.14549813  0.04927093] yaw=-128.2deg	[env.py: 1019]
-05/10 07:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:33:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.3ms, total=112.3ms	[env.py: 1075]
-05/10 07:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.011, 1.123, 0.049)	[env.py: 1079]
-05/10 07:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.0 deg	[env.py: 1082]
-05/10 07:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m	[env.py: 1086]
-05/10 07:33:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:33:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:33:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:33:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:33:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:33:56 INFO: [Worker 0] Worker 0 house 1 episode 97/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:33:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:33:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:33:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:33:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:33:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.525s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:33:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.533[m] 94.366[deg]	[grasp_sample.py: 539]
-05/10 07:33:59 ERROR: [Worker 0] Worker 0 house 1 episode 97 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:34:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:34:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:34:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:34:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:34:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:34:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:34:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:34:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:34:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010969m	[env.py: 870]
-05/10 07:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:34:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67988102  0.86706002  0.01096928] yaw=-168.8deg	[env.py: 1019]
-05/10 07:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86805854  0.08617096  0.01096928] yaw=151.8deg	[env.py: 1019]
-05/10 07:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11761992  0.93242463  0.01096928] yaw=-137.7deg	[env.py: 1019]
-05/10 07:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:34:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=75.2ms, total=75.2ms	[env.py: 1075]
-05/10 07:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.680, 0.867, 0.011)	[env.py: 1079]
-05/10 07:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.8 deg	[env.py: 1082]
-05/10 07:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m	[env.py: 1086]
-05/10 07:34:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:34:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:34:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:34:01 INFO: [Worker 0] Worker 0 house 1 episode 98/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:34:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:34:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:34:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:34:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:34:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.320s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:34:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.696[m] 91.578[deg]	[grasp_sample.py: 539]
-05/10 07:34:04 ERROR: [Worker 0] Worker 0 house 1 episode 98 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:34:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:34:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:34:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:34:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:34:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:34:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:34:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:34:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:34:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009649m	[env.py: 870]
-05/10 07:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:34:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81980314  0.69370277  0.00964859] yaw=-166.3deg	[env.py: 1019]
-05/10 07:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74263483  0.94323453  0.00964859] yaw=-145.1deg	[env.py: 1019]
-05/10 07:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70878514  0.3997908   0.00964859] yaw=177.9deg	[env.py: 1019]
-05/10 07:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:34:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.6ms, total=105.6ms	[env.py: 1075]
-05/10 07:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.820, 0.694, 0.010)	[env.py: 1079]
-05/10 07:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.3 deg	[env.py: 1082]
-05/10 07:34:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m	[env.py: 1086]
-05/10 07:34:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:34:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:34:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:34:06 INFO: [Worker 0] Worker 0 house 1 episode 99/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:34:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:34:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:34:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:34:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:34:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.718s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:34:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.434[m] 79.470[deg]	[grasp_sample.py: 539]
-05/10 07:34:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:34:07 INFO: [Worker 0] Saved videos eagerly for episode 73 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:34:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 07:34:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:34:07 INFO: [Worker 0] Saved videos eagerly for episode 73 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:34:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 07:34:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:34:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:34:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:34:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:34:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:34:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:34:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:34:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.08s (batch: 4.00s, save: 11.08s)	[pipeline.py: 300]
-05/10 07:34:23 INFO: [Worker 0] [PROFILE] Episode 97 house 1 success=True episode_total=1.19s:
-  episode_total: mean=157.59s, total=315.19s, count=2, min=126663.8ms, max=188525.6ms
-  sensor_polling: mean=462.6ms, total=246.12s, count=532, min=380.9ms, max=1013.9ms
-  physics_step: mean=22.0ms, total=11.72s, count=532, min=13.9ms, max=78.8ms
-  save_trajectories: mean=11.08s, total=11.08s, count=1, min=11079.7ms, max=11079.7ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4001.4ms, max=4001.4ms
-  task_sampling: mean=593.6ms, total=1.19s, count=2, min=373.7ms, max=813.6ms
-  task_specific_sample: mean=590.2ms, total=1.18s, count=2, min=370.9ms, max=809.5ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.7ms
-  mj_forward_sync: mean=421.5us, total=0.8ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:34:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:34:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:34:23 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.48s (batch: 3.94s, save: 12.54s)	[pipeline.py: 300]
-05/10 07:34:24 INFO: [Worker 0] [PROFILE] Episode 99 house 1 success=True episode_total=0.80s:
-  episode_total: mean=111.82s, total=223.64s, count=2, min=3064.9ms, max=220577.1ms
-  sensor_polling: mean=475.5ms, total=142.66s, count=300, min=400.7ms, max=991.6ms
-  save_trajectories: mean=12.54s, total=12.54s, count=1, min=12542.1ms, max=12542.1ms
-  physics_step: mean=23.5ms, total=7.06s, count=300, min=14.0ms, max=74.2ms
-  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3939.4ms, max=3939.4ms
-  task_sampling: mean=398.3ms, total=796.6ms, count=2, min=360.0ms, max=436.5ms
-  task_specific_sample: mean=395.1ms, total=790.3ms, count=2, min=357.0ms, max=433.2ms
-  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.2ms, max=2.2ms
-  mj_forward_sync: mean=392.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:34:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:34:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:34:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:34:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:34:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:34:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:34:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:34:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:34:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015463m	[env.py: 870]
-05/10 07:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:34:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.62449773  0.29124339  0.01546345] yaw=162.9deg	[env.py: 1019]
-05/10 07:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76692053  0.72824948  0.01546345] yaw=-162.4deg	[env.py: 1019]
-05/10 07:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93978185  0.41111313  0.01546345] yaw=178.4deg	[env.py: 1019]
-05/10 07:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:34:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=384.5ms, total=384.5ms	[env.py: 1075]
-05/10 07:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.624, 0.291, 0.015)	[env.py: 1079]
-05/10 07:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.9 deg	[env.py: 1082]
-05/10 07:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m	[env.py: 1086]
-05/10 07:34:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:34:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:34:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:34:25 INFO: [Worker 0] Worker 0 house 1 episode 98/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:34:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:34:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:34:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:34:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:34:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:34:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:34:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:34:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:34:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:34:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:34:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:34:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:34:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:34:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006711m	[env.py: 870]
-05/10 07:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:34:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82867152  0.50031512 -0.00671067] yaw=-177.7deg	[env.py: 1019]
-05/10 07:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01197475  0.83323775 -0.00671067] yaw=-164.0deg	[env.py: 1019]
-05/10 07:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63877662  0.62831492 -0.00671067] yaw=-165.2deg	[env.py: 1019]
-05/10 07:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:34:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=413.3ms, total=413.4ms	[env.py: 1075]
-05/10 07:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.500, -0.007)	[env.py: 1079]
-05/10 07:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.7 deg	[env.py: 1082]
-05/10 07:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m	[env.py: 1086]
-05/10 07:34:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:34:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:34:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:34:27 INFO: [Worker 0] Worker 0 house 1 episode 100/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:34:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.149s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:34:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:34:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:34:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:34:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.900s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:34:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.384[m] 75.943[deg]	[grasp_sample.py: 539]
-05/10 07:34:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:34:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.777s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:34:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.634[m] 83.489[deg]	[grasp_sample.py: 539]
-05/10 07:34:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:34:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:34:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:34:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:34:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:34:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:35:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:35:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:35:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:35:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:35:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:35:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:35:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:35:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:35:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:35:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:35:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:35:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:35:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:35:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:36:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:36:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:36:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:36:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:36:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:36:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:36:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:36:03 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.473s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:36:03 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.365[deg]	[grasp_sample.py: 539]
-05/10 07:36:04 ERROR: [Worker 0] Worker 0 house 1 episode 100 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:36:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:36:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:36:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:36:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:36:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:36:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:36:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:36:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:36:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:36:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:36:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036829m	[env.py: 870]
-05/10 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:36:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97764554  0.99009197  0.03682899] yaw=-151.7deg	[env.py: 1019]
-05/10 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82720166  0.77947811  0.03682899] yaw=-156.6deg	[env.py: 1019]
-05/10 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88800449  0.19252291  0.03682899] yaw=151.7deg	[env.py: 1019]
-05/10 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:36:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=83.0ms, total=83.1ms	[env.py: 1075]
-05/10 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.978, 0.990, 0.037)	[env.py: 1079]
-05/10 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.7 deg	[env.py: 1082]
-05/10 07:36:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m	[env.py: 1086]
-05/10 07:36:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:36:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:36:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:36:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:36:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:36:06 INFO: [Worker 0] Worker 0 house 1 episode 101/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:36:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:36:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:36:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:36:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:36:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.522s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:36:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.469[m] 94.723[deg]	[grasp_sample.py: 539]
-05/10 07:36:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:36:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:36:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:36:40 INFO: [Worker 0] Worker 0 house 1 episode 99 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:36:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:37:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:37:00 INFO: [Worker 0] Worker 0 house 1 episode 98 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:37:02 INFO: [Worker 0] Saved videos eagerly for episode 72 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:37:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 07:37:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:37:03 INFO: [Worker 0] Worker 0 house 1 episode 100 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:37:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:37:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:37:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:37:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.04s (batch: 4.00s, save: 8.04s)	[pipeline.py: 300]
-05/10 07:37:14 INFO: [Worker 0] [PROFILE] Episode 99 house 1 success=True episode_total=1.03s:
-  episode_total: mean=65.23s, total=195.69s, count=3, min=3263.8ms, max=188658.8ms
-  sensor_polling: mean=476.4ms, total=142.91s, count=300, min=403.2ms, max=1042.1ms
-  save_trajectories: mean=8.04s, total=8.04s, count=1, min=8039.1ms, max=8039.1ms
-  physics_step: mean=21.7ms, total=6.51s, count=300, min=16.6ms, max=96.6ms
-  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4000.8ms, max=4000.8ms
-  task_sampling: mean=344.2ms, total=1.03s, count=3, min=295.2ms, max=411.7ms
-  task_specific_sample: mean=341.3ms, total=1.02s, count=3, min=292.4ms, max=408.3ms
-  scene_randomize: mean=1.5ms, total=4.4ms, count=3, min=1.1ms, max=2.2ms
-  mj_forward_sync: mean=363.0us, total=1.1ms, count=3, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:37:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:37:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:37:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:37:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:37:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:37:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:37:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:37:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:37:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026720m	[env.py: 870]
-05/10 07:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:37:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.13833098  1.04408116 -0.02671994] yaw=-144.8deg	[env.py: 1019]
-05/10 07:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.61957787  0.49969017 -0.02671994] yaw=-180.5deg	[env.py: 1019]
-05/10 07:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94322863  0.65858214 -0.02671994] yaw=-160.0deg	[env.py: 1019]
-05/10 07:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:37:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=262.5ms, total=262.5ms	[env.py: 1075]
-05/10 07:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.138, 1.044, -0.027)	[env.py: 1079]
-05/10 07:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.8 deg	[env.py: 1082]
-05/10 07:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.796m	[env.py: 1086]
-05/10 07:37:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:37:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:37:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:37:17 INFO: [Worker 0] Worker 0 house 1 episode 100/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:37:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:37:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:37:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:37:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:37:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.176s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:37:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.404[m] 85.864[deg]	[grasp_sample.py: 539]
-05/10 07:37:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:37:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:37:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:37:24 INFO: [Worker 0] Saved videos eagerly for episode 74 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:37:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 07:37:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:37:25 INFO: [Worker 0] Saved videos eagerly for episode 74 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:37:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 07:37:25 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
-05/10 07:37:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:37:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:37:36 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.78s (batch: 4.27s, save: 7.50s)	[pipeline.py: 300]
-05/10 07:37:36 INFO: [Worker 0] [PROFILE] Episode 98 house 1 success=True episode_total=0.70s:
-  episode_total: mean=192.05s, total=192.05s, count=1, min=192045.3ms, max=192045.3ms
-  sensor_polling: mean=471.0ms, total=141.29s, count=300, min=406.7ms, max=1034.0ms
-  save_trajectories: mean=7.50s, total=7.50s, count=1, min=7503.1ms, max=7503.1ms
-  physics_step: mean=23.2ms, total=6.97s, count=300, min=16.3ms, max=62.7ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4273.2ms, max=4273.2ms
-  task_sampling: mean=704.9ms, total=704.9ms, count=1, min=704.9ms, max=704.9ms
-  task_specific_sample: mean=700.9ms, total=700.9ms, count=1, min=700.9ms, max=700.9ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=488.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:37:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:37:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:37:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.22s (batch: 4.18s, save: 8.05s)	[pipeline.py: 300]
-05/10 07:37:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:37:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:37:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:37:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:37:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:37:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:37:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:37:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:37:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:37:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:37:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013321m	[env.py: 870]
-05/10 07:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:37:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:37:38 INFO: [Worker 0] [PROFILE] Episode 100 house 1 success=True episode_total=0.77s:
-  episode_total: mean=192.43s, total=192.43s, count=1, min=192430.5ms, max=192430.5ms
-  sensor_polling: mean=479.8ms, total=142.03s, count=296, min=412.5ms, max=1196.6ms
-  save_trajectories: mean=8.05s, total=8.05s, count=1, min=8047.3ms, max=8047.3ms
-  physics_step: mean=24.7ms, total=7.31s, count=296, min=16.8ms, max=95.8ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4177.1ms, max=4177.1ms
-  task_sampling: mean=773.8ms, total=773.8ms, count=1, min=773.8ms, max=773.8ms
-  task_specific_sample: mean=769.2ms, total=769.2ms, count=1, min=769.2ms, max=769.2ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=552.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90898437  0.84350445  0.01332138] yaw=-164.1deg	[env.py: 1019]
-05/10 07:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73760992  0.80881435  0.01332138] yaw=-164.7deg	[env.py: 1019]
-05/10 07:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:37:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=306.7ms, total=306.7ms	[env.py: 1075]
-05/10 07:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.844, 0.013)	[env.py: 1079]
-05/10 07:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.1 deg	[env.py: 1082]
-05/10 07:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
-05/10 07:37:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:37:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:37:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:37:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:37:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:37:39 INFO: [Worker 0] Worker 0 house 1 episode 99/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:37:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:37:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:37:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:37:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:37:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.688s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:37:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.414[m] 78.886[deg]	[grasp_sample.py: 539]
-05/10 07:37:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:37:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:37:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:37:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:37:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:37:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:37:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:37:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:37:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:37:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:37:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:37:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026254m	[env.py: 870]
-05/10 07:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:37:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:37:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:37:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91835911  0.37156496  0.02625394] yaw=163.0deg	[env.py: 1019]
-05/10 07:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:37:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=429.2ms, total=429.2ms	[env.py: 1075]
-05/10 07:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.918, 0.372, 0.026)	[env.py: 1079]
-05/10 07:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.0 deg	[env.py: 1082]
-05/10 07:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m	[env.py: 1086]
-05/10 07:37:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:37:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:37:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:37:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:37:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:37:41 INFO: [Worker 0] Worker 0 house 1 episode 101/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:37:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:37:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:37:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:37:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:37:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.436s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:37:41 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.352[m] 82.616[deg]	[grasp_sample.py: 539]
-05/10 07:37:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:37:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:37:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:37:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:38:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:38:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:38:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:38:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:38:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:38:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:38:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:38:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:38:38 INFO: [Worker 0] Worker 0 house 1 episode 101 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:39:03 INFO: [Worker 0] Saved videos eagerly for episode 68 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:39:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 07:39:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:39:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:39:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:39:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.40s (batch: 4.43s, save: 8.97s)	[pipeline.py: 300]
-05/10 07:39:17 INFO: [Worker 0] [PROFILE] Episode 101 house 1 success=True episode_total=0.78s:
-  episode_total: mean=169.81s, total=339.63s, count=2, min=148040.5ms, max=191585.6ms
-  sensor_polling: mean=470.4ms, total=266.71s, count=567, min=372.1ms, max=959.6ms
-  physics_step: mean=21.6ms, total=12.27s, count=567, min=13.5ms, max=79.1ms
-  save_trajectories: mean=8.97s, total=8.97s, count=1, min=8967.3ms, max=8967.3ms
-  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4431.0ms, max=4431.0ms
-  task_sampling: mean=391.7ms, total=783.4ms, count=2, min=323.9ms, max=459.5ms
-  task_specific_sample: mean=388.6ms, total=777.2ms, count=2, min=321.1ms, max=456.1ms
-  scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=1.2ms, max=2.3ms
-  mj_forward_sync: mean=378.2us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:39:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:39:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:39:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:39:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:39:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:39:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:39:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:39:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:39:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:39:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036803m	[env.py: 870]
-05/10 07:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:39:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96656412  0.71191236 -0.0368031 ] yaw=-167.5deg	[env.py: 1019]
-05/10 07:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96812137  0.38611633 -0.0368031 ] yaw=173.0deg	[env.py: 1019]
-05/10 07:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87264718  0.24217425 -0.0368031 ] yaw=158.7deg	[env.py: 1019]
-05/10 07:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:39:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.5ms, total=133.5ms	[env.py: 1075]
-05/10 07:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.967, 0.712, -0.037)	[env.py: 1079]
-05/10 07:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg	[env.py: 1082]
-05/10 07:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.771m	[env.py: 1086]
-05/10 07:39:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:39:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:39:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:39:19 INFO: [Worker 0] Worker 0 house 1 episode 102/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:39:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:39:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:39:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:39:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:39:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.481s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:39:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.311[m] 81.601[deg]	[grasp_sample.py: 539]
-05/10 07:39:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:39:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:39:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:39:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:39:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:39:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:39:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:39:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:39:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:39:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:39:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:39:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:39:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:39:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:39:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:39:32 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.446s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:39:32 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.124[deg]	[grasp_sample.py: 539]
-05/10 07:39:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:39:33 ERROR: [Worker 0] Worker 0 house 1 episode 101 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:39:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:39:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:39:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:39:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:39:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:39:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:39:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:39:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:39:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:39:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:39:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:39:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013500m	[env.py: 870]
-05/10 07:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:39:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80541472  0.84792809 -0.01349995] yaw=-161.8deg	[env.py: 1019]
-05/10 07:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86409868  0.48578364 -0.01349995] yaw=-185.2deg	[env.py: 1019]
-05/10 07:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:39:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=144.4ms, total=144.4ms	[env.py: 1075]
-05/10 07:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.805, 0.848, -0.013)	[env.py: 1079]
-05/10 07:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.8 deg	[env.py: 1082]
-05/10 07:39:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
-05/10 07:39:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:39:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:39:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:39:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:39:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:39:35 INFO: [Worker 0] Worker 0 house 1 episode 102/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:39:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:39:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:39:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:39:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:39:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:39:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.746s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:39:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.521[m] 82.390[deg]	[grasp_sample.py: 539]
-05/10 07:39:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:39:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:39:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:39:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:39:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:39:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:39:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:39:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:39:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:39:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:39:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:39:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:39:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:39:47 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.467s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:39:47 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.228[deg]	[grasp_sample.py: 539]
-05/10 07:39:48 ERROR: [Worker 0] Worker 0 house 1 episode 100 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:39:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:39:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:39:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:39:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:39:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:39:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:39:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:39:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:39:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:39:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040607m	[env.py: 870]
-05/10 07:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:39:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85485614  1.13246987  0.04060698] yaw=-153.8deg	[env.py: 1019]
-05/10 07:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.06356234  0.81662235  0.04060698] yaw=-153.3deg	[env.py: 1019]
-05/10 07:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96400379  0.79655098  0.04060698] yaw=-148.4deg	[env.py: 1019]
-05/10 07:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:39:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.8ms, total=152.9ms	[env.py: 1075]
-05/10 07:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.855, 1.132, 0.041)	[env.py: 1079]
-05/10 07:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.8 deg	[env.py: 1082]
-05/10 07:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
-05/10 07:39:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:39:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:39:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:39:50 INFO: [Worker 0] Worker 0 house 1 episode 101/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:39:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:39:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:39:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:39:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:39:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.732s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:39:53 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.701[m] 83.628[deg]	[grasp_sample.py: 539]
-05/10 07:39:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:39:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:39:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:39:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:40:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:40:17 INFO: [Worker 0] Worker 0 house 1 episode 99 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:40:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:40:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:40:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:40:42 INFO: [Worker 0] Saved videos eagerly for episode 75 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:40:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 07:40:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:40:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:40:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:40:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.78s (batch: 3.76s, save: 9.02s)	[pipeline.py: 300]
-05/10 07:40:55 INFO: [Worker 0] [PROFILE] Episode 99 house 1 success=True episode_total=0.59s:
-  episode_total: mean=197.11s, total=197.11s, count=1, min=197107.9ms, max=197107.9ms
-  sensor_polling: mean=488.9ms, total=146.68s, count=300, min=403.3ms, max=944.9ms
-  save_trajectories: mean=9.02s, total=9.02s, count=1, min=9016.9ms, max=9016.9ms
-  physics_step: mean=22.6ms, total=6.77s, count=300, min=16.9ms, max=50.0ms
-  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3758.5ms, max=3758.5ms
-  task_sampling: mean=593.2ms, total=593.2ms, count=1, min=593.2ms, max=593.2ms
-  task_specific_sample: mean=588.9ms, total=588.9ms, count=1, min=588.9ms, max=588.9ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=541.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:40:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:40:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:40:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:40:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:40:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:40:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:40:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:40:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:40:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015582m	[env.py: 870]
-05/10 07:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:40:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8065653   0.30286341 -0.01558222] yaw=179.4deg	[env.py: 1019]
-05/10 07:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0035106   0.58615611 -0.01558222] yaw=-163.5deg	[env.py: 1019]
-05/10 07:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83928025  0.48247619 -0.01558222] yaw=-176.3deg	[env.py: 1019]
-05/10 07:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:40:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=255.7ms, total=255.7ms	[env.py: 1075]
-05/10 07:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.807, 0.303, -0.016)	[env.py: 1079]
-05/10 07:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.4 deg	[env.py: 1082]
-05/10 07:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
-05/10 07:40:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:40:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:40:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:40:58 INFO: [Worker 0] Worker 0 house 1 episode 100/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:40:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:40:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:40:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:40:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:40:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:40:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.504[m] 90.316[deg]	[grasp_sample.py: 539]
-05/10 07:40:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:40:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:40:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:41:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:41:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:41:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:41:44 INFO: [Worker 0] Worker 0 house 1 episode 102 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:41:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:42:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:42:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:42:07 INFO: [Worker 0] Worker 0 house 1 episode 102 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:42:08 INFO: [Worker 0] Saved videos eagerly for episode 69 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:42:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 07:42:08 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
-05/10 07:42:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:42:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:42:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:42:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.41s (batch: 3.99s, save: 7.41s)	[pipeline.py: 300]
-05/10 07:42:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:42:20 INFO: [Worker 0] [PROFILE] Episode 102 house 1 success=True episode_total=0.39s:
-  episode_total: mean=181.24s, total=181.24s, count=1, min=181236.8ms, max=181236.8ms
-  sensor_polling: mean=475.6ms, total=134.11s, count=282, min=407.7ms, max=728.9ms
-  save_trajectories: mean=7.41s, total=7.41s, count=1, min=7411.6ms, max=7411.6ms
-  physics_step: mean=21.9ms, total=6.19s, count=282, min=15.5ms, max=60.6ms
-  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3994.5ms, max=3994.5ms
-  task_sampling: mean=390.9ms, total=390.9ms, count=1, min=390.9ms, max=390.9ms
-  task_specific_sample: mean=387.4ms, total=387.4ms, count=1, min=387.4ms, max=387.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=381.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:42:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:42:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:42:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:42:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:42:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:42:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:42:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:42:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:42:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:42:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:42:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:42:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017327m	[env.py: 870]
-05/10 07:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:42:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11309324  1.03173234 -0.01732672] yaw=-137.9deg	[env.py: 1019]
-05/10 07:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77534743  0.36256145 -0.01732672] yaw=168.3deg	[env.py: 1019]
-05/10 07:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96705008  0.54162734 -0.01732672] yaw=-167.2deg	[env.py: 1019]
-05/10 07:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:42:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.9ms, total=98.9ms	[env.py: 1075]
-05/10 07:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.113, 1.032, -0.017)	[env.py: 1079]
-05/10 07:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.9 deg	[env.py: 1082]
-05/10 07:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
-05/10 07:42:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:42:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:42:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:42:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:42:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:42:22 INFO: [Worker 0] Worker 0 house 1 episode 103/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:42:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:42:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:42:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:42:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:42:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:42:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.419s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:42:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.369[m] 83.645[deg]	[grasp_sample.py: 539]
-05/10 07:42:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:42:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:42:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:42:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:42:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:42:28 INFO: [Worker 0] Saved videos eagerly for episode 75 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:42:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 07:42:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:42:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:42:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:42:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:42:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:42:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:42:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:42:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:42:31 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.414s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 07:42:31 ERROR: [Worker 0] Worker 0 house 1 episode 101 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 07:42:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:42:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:42:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:42:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:42:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:42:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:42:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:42:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:42:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045546m	[env.py: 870]
-05/10 07:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:42:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83254018  0.21977161  0.04554626] yaw=153.9deg	[env.py: 1019]
-05/10 07:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.16730554  1.143837    0.04554626] yaw=-132.1deg	[env.py: 1019]
-05/10 07:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:42:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=154.3ms, total=154.3ms	[env.py: 1075]
-05/10 07:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.220, 0.046)	[env.py: 1079]
-05/10 07:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.9 deg	[env.py: 1082]
-05/10 07:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m	[env.py: 1086]
-05/10 07:42:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:42:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:42:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:42:33 INFO: [Worker 0] Worker 0 house 1 episode 102/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:42:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:42:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:42:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:42:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:42:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.435s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:42:34 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.478[m] 95.827[deg]	[grasp_sample.py: 539]
-05/10 07:42:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:42:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:42:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:42:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:42:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:42:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.93s (batch: 3.89s, save: 9.04s)	[pipeline.py: 300]
-05/10 07:42:41 INFO: [Worker 0] [PROFILE] Episode 102 house 1 success=True episode_total=1.13s:
-  episode_total: mean=149.80s, total=299.60s, count=2, min=113291.6ms, max=186303.7ms
-  sensor_polling: mean=481.5ms, total=232.56s, count=483, min=395.3ms, max=856.1ms
-  physics_step: mean=22.6ms, total=10.90s, count=483, min=16.9ms, max=74.7ms
-  save_trajectories: mean=9.04s, total=9.04s, count=1, min=9039.0ms, max=9039.0ms
-  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3891.8ms, max=3891.8ms
-  task_sampling: mean=564.7ms, total=1.13s, count=2, min=409.3ms, max=720.0ms
-  task_specific_sample: mean=561.3ms, total=1.12s, count=2, min=406.4ms, max=716.1ms
-  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.2ms, max=2.6ms
-  mj_forward_sync: mean=423.6us, total=0.8ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:42:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:42:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:42:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:42:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:42:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:42:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:42:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:42:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:42:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028691m	[env.py: 870]
-05/10 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:42:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10496888  0.92499547  0.02869081] yaw=-151.1deg	[env.py: 1019]
-05/10 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96226414  0.35302323  0.02869081] yaw=178.5deg	[env.py: 1019]
-05/10 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88401676  0.64511003  0.02869081] yaw=-176.5deg	[env.py: 1019]
-05/10 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:42:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.5ms, total=123.5ms	[env.py: 1075]
-05/10 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.105, 0.925, 0.029)	[env.py: 1079]
-05/10 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.1 deg	[env.py: 1082]
-05/10 07:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.744m	[env.py: 1086]
-05/10 07:42:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:42:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:42:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:42:43 INFO: [Worker 0] Worker 0 house 1 episode 103/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:42:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:42:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:42:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:42:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:42:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:42:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.298[m] 81.913[deg]	[grasp_sample.py: 539]
-05/10 07:42:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:42:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:42:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:42:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:43:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:43:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:43:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:43:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:43:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:43:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:43:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:43:33 INFO: [Worker 0] Worker 0 house 1 episode 100 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:43:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:43:58 INFO: [Worker 0] Saved videos eagerly for episode 76 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:43:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 07:43:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:44:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:44:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:44:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.02s (batch: 5.27s, save: 9.75s)	[pipeline.py: 300]
-05/10 07:44:14 INFO: [Worker 0] [PROFILE] Episode 100 house 1 success=True episode_total=0.54s:
-  episode_total: mean=197.13s, total=197.13s, count=1, min=197131.4ms, max=197131.4ms
-  sensor_polling: mean=480.5ms, total=144.14s, count=300, min=402.8ms, max=811.6ms
-  save_trajectories: mean=9.75s, total=9.75s, count=1, min=9745.8ms, max=9745.8ms
-  physics_step: mean=22.2ms, total=6.66s, count=300, min=16.8ms, max=56.7ms
-  save_batch_prep: mean=5.27s, total=5.27s, count=1, min=5274.9ms, max=5274.9ms
-  task_sampling: mean=539.9ms, total=539.9ms, count=1, min=539.9ms, max=539.9ms
-  task_specific_sample: mean=536.0ms, total=536.0ms, count=1, min=536.0ms, max=536.0ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=463.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:44:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:44:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:44:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:44:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:44:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:44:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:44:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:44:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:44:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040615m	[env.py: 870]
-05/10 07:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:44:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03479908  0.22060278 -0.04061476] yaw=152.0deg	[env.py: 1019]
-05/10 07:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69981021  0.77419244 -0.04061476] yaw=-155.3deg	[env.py: 1019]
-05/10 07:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8598814   0.7383711  -0.04061476] yaw=-163.9deg	[env.py: 1019]
-05/10 07:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:44:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.7ms, total=81.7ms	[env.py: 1075]
-05/10 07:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.035, 0.221, -0.041)	[env.py: 1079]
-05/10 07:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.0 deg	[env.py: 1082]
-05/10 07:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.717m	[env.py: 1086]
-05/10 07:44:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:44:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:44:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:44:16 INFO: [Worker 0] Worker 0 house 1 episode 101/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:44:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:44:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:44:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:44:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:44:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.488s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:44:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.281[m] 91.767[deg]	[grasp_sample.py: 539]
-05/10 07:44:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:44:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:44:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:44:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:44:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:44:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:44:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:44:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:44:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:44:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:44:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:44:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:44:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:44:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:44:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:44:48 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.519s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:44:48 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.344[deg]	[grasp_sample.py: 539]
-05/10 07:44:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:44:49 ERROR: [Worker 0] Worker 0 house 1 episode 103 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:44:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:44:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:44:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:44:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:44:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:44:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:44:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:44:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:44:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:44:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043205m	[env.py: 870]
-05/10 07:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:44:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9027195   0.18368565 -0.04320489] yaw=167.0deg	[env.py: 1019]
-05/10 07:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 129.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74242346  1.0035614  -0.04320489] yaw=-153.7deg	[env.py: 1019]
-05/10 07:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81453306  0.44351646 -0.04320489] yaw=167.3deg	[env.py: 1019]
-05/10 07:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:44:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=466.0ms, total=466.0ms	[env.py: 1075]
-05/10 07:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.903, 0.184, -0.043)	[env.py: 1079]
-05/10 07:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.0 deg	[env.py: 1082]
-05/10 07:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
-05/10 07:44:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:44:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:44:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:44:52 INFO: [Worker 0] Worker 0 house 1 episode 104/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:44:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:44:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:44:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:44:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:44:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.475s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:44:52 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.395[m] 84.159[deg]	[grasp_sample.py: 539]
-05/10 07:44:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:44:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:44:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:44:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:44:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:44:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:44:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:44:53 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.394s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:44:53 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.252[deg]	[grasp_sample.py: 539]
-05/10 07:44:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:44:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:44:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:44:54 ERROR: [Worker 0] Worker 0 house 1 episode 102 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:44:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:44:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:44:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:44:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:44:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:44:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:44:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:44:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:44:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041370m	[env.py: 870]
-05/10 07:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:44:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06959332  0.15837658  0.04137015] yaw=151.6deg	[env.py: 1019]
-05/10 07:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92611275  0.90627518  0.04137015] yaw=-156.9deg	[env.py: 1019]
-05/10 07:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:44:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=523.9ms, total=523.9ms	[env.py: 1075]
-05/10 07:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.070, 0.158, 0.041)	[env.py: 1079]
-05/10 07:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.6 deg	[env.py: 1082]
-05/10 07:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.711m	[env.py: 1086]
-05/10 07:44:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:44:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:44:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:44:57 INFO: [Worker 0] Worker 0 house 1 episode 103/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:44:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:44:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:44:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:44:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.122s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:44:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.283s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:44:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.266[m] 92.011[deg]	[grasp_sample.py: 539]
-05/10 07:44:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:44:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:44:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:44:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:45:11 INFO: [Worker 0] Worker 0 house 1 episode 103 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:45:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:45:32 INFO: [Worker 0] Saved videos eagerly for episode 76 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:45:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 07:45:32 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
-05/10 07:45:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:45:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:45:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:45:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:45:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:45:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:45:45 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.45s (batch: 3.72s, save: 8.74s)	[pipeline.py: 300]
-05/10 07:45:45 INFO: [Worker 0] [PROFILE] Episode 103 house 1 success=True episode_total=0.40s:
-  episode_total: mean=182.55s, total=182.55s, count=1, min=182554.0ms, max=182554.0ms
-  sensor_polling: mean=488.0ms, total=137.12s, count=281, min=398.8ms, max=919.5ms
-  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8735.5ms, max=8735.5ms
-  physics_step: mean=23.1ms, total=6.48s, count=281, min=14.3ms, max=107.1ms
-  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3718.9ms, max=3718.9ms
-  task_sampling: mean=402.0ms, total=402.0ms, count=1, min=402.0ms, max=402.0ms
-  task_specific_sample: mean=398.7ms, total=398.7ms, count=1, min=398.7ms, max=398.7ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=377.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:45:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:45:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:45:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:45:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:45:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:45:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:45:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:45:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:45:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040677m	[env.py: 870]
-05/10 07:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:45:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01519186  0.91607108  0.04067711] yaw=-140.1deg	[env.py: 1019]
-05/10 07:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:45:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=175.4ms, total=175.5ms	[env.py: 1075]
-05/10 07:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.015, 0.916, 0.041)	[env.py: 1079]
-05/10 07:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.1 deg	[env.py: 1082]
-05/10 07:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
-05/10 07:45:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:45:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:45:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:45:47 INFO: [Worker 0] Worker 0 house 1 episode 104/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:45:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:45:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:45:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:45:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:45:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.479s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:45:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.422[m] 96.095[deg]	[grasp_sample.py: 539]
-05/10 07:45:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:45:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:45:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:45:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:46:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:46:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:46:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:46:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:46:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:46:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:46:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:46:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:46:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:46:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:46:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:46:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:46:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:46:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:46:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:46:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:46:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:46:14 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.400s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:46:14 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.140[deg]	[grasp_sample.py: 539]
-05/10 07:46:16 ERROR: [Worker 0] Worker 0 house 1 episode 103 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:46:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:46:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:46:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:46:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:46:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:46:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:46:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:46:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:46:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:46:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:46:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027414m	[env.py: 870]
-05/10 07:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:46:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8584378   0.92121359  0.02741366] yaw=-157.9deg	[env.py: 1019]
-05/10 07:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79936769  0.49723843  0.02741366] yaw=-189.2deg	[env.py: 1019]
-05/10 07:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.09460761  1.05124564  0.02741366] yaw=-147.3deg	[env.py: 1019]
-05/10 07:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:46:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.4ms, total=206.5ms	[env.py: 1075]
-05/10 07:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.858, 0.921, 0.027)	[env.py: 1079]
-05/10 07:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.9 deg	[env.py: 1082]
-05/10 07:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
-05/10 07:46:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:46:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:46:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:46:18 INFO: [Worker 0] Worker 0 house 1 episode 104/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:46:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:46:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:46:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:46:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:46:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:46:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.533s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:46:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.469[m] 78.820[deg]	[grasp_sample.py: 539]
-05/10 07:46:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:46:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:46:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:46:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:46:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:46:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:46:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:46:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:46:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:46:21 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.407s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:46:21 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.355[deg]	[grasp_sample.py: 539]
-05/10 07:46:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:46:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:46:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:46:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:46:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:46:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:46:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:46:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:46:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:47:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:47:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:47:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:47:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:47:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:47:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:47:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:47:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:47:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:47:20 INFO: [Worker 0] Worker 0 house 1 episode 101 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:47:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:47:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:47:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:47:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:47:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:47:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:47:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:47:23 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.408s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:47:23 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.560[deg]	[grasp_sample.py: 539]
-05/10 07:47:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:47:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:47:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:47:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:47:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:47:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:47:45 INFO: [Worker 0] Saved videos eagerly for episode 77 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:47:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 07:47:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:47:48 INFO: [Worker 0] Worker 0 house 1 episode 104 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:47:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:47:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:47:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.47s (batch: 4.27s, save: 9.20s)	[pipeline.py: 300]
-05/10 07:48:00 INFO: [Worker 0] [PROFILE] Episode 101 house 1 success=True episode_total=0.39s:
-  episode_total: mean=223.98s, total=223.98s, count=1, min=223982.7ms, max=223982.7ms
-  sensor_polling: mean=476.4ms, total=142.91s, count=300, min=407.0ms, max=838.1ms
-  save_trajectories: mean=9.20s, total=9.20s, count=1, min=9197.7ms, max=9197.7ms
-  physics_step: mean=23.5ms, total=7.05s, count=300, min=12.5ms, max=92.6ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4269.4ms, max=4269.4ms
-  task_sampling: mean=388.5ms, total=388.5ms, count=1, min=388.5ms, max=388.5ms
-  task_specific_sample: mean=384.3ms, total=384.3ms, count=1, min=384.3ms, max=384.3ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=526.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:48:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:48:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:48:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:48:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:48:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:48:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:48:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:48:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:48:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:48:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:48:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004782m	[env.py: 870]
-05/10 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:48:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.16341011  0.97973469 -0.0047824 ] yaw=-130.5deg	[env.py: 1019]
-05/10 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86463775  0.35963553 -0.0047824 ] yaw=162.6deg	[env.py: 1019]
-05/10 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.63372969  0.59068757 -0.0047824 ] yaw=-165.0deg	[env.py: 1019]
-05/10 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:48:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.8ms, total=174.9ms	[env.py: 1075]
-05/10 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.163, 0.980, -0.005)	[env.py: 1079]
-05/10 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.5 deg	[env.py: 1082]
-05/10 07:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.734m	[env.py: 1086]
-05/10 07:48:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:48:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:48:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:48:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:48:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:48:02 INFO: [Worker 0] Worker 0 house 1 episode 102/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:48:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.208s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:48:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:48:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:48:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:48:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.997s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:48:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.328[m] 94.179[deg]	[grasp_sample.py: 539]
-05/10 07:48:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:48:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:48:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:48:13 INFO: [Worker 0] Worker 0 house 1 episode 104 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:48:15 INFO: [Worker 0] Saved videos eagerly for episode 70 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:48:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 07:48:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:48:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:48:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:48:29 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.92s (batch: 4.34s, save: 9.58s)	[pipeline.py: 300]
-05/10 07:48:30 INFO: [Worker 0] [PROFILE] Episode 104 house 1 success=True episode_total=1.14s:
-  episode_total: mean=183.16s, total=366.33s, count=2, min=147558.7ms, max=218768.0ms
-  sensor_polling: mean=471.8ms, total=267.06s, count=566, min=389.3ms, max=918.9ms
-  physics_step: mean=22.6ms, total=12.78s, count=566, min=13.6ms, max=111.3ms
-  save_trajectories: mean=9.58s, total=9.58s, count=1, min=9581.8ms, max=9581.8ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4338.2ms, max=4338.2ms
-  task_sampling: mean=570.2ms, total=1.14s, count=2, min=360.7ms, max=779.8ms
-  task_specific_sample: mean=567.0ms, total=1.13s, count=2, min=357.1ms, max=776.9ms
-  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=381.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:48:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:48:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:48:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:48:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:48:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:48:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:48:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:48:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:48:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:48:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:48:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013420m	[env.py: 870]
-05/10 07:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:48:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04933374  0.80854091 -0.01342035] yaw=-158.9deg	[env.py: 1019]
-05/10 07:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.13484702  0.98818127 -0.01342035] yaw=-136.3deg	[env.py: 1019]
-05/10 07:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:48:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=368.8ms, total=368.8ms	[env.py: 1075]
-05/10 07:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.049, 0.809, -0.013)	[env.py: 1079]
-05/10 07:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.9 deg	[env.py: 1082]
-05/10 07:48:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.730m	[env.py: 1086]
-05/10 07:48:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:48:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:48:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:48:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:48:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:48:32 INFO: [Worker 0] Worker 0 house 1 episode 105/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:48:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:48:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:48:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:48:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:48:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.708s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:48:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.343[m] 98.346[deg]	[grasp_sample.py: 539]
-05/10 07:48:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:48:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:48:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:48:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:48:40 INFO: [Worker 0] Saved videos eagerly for episode 77 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:48:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 07:48:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:48:44 INFO: [Worker 0] Worker 0 house 1 episode 104 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:48:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:48:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:48:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:48:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:48:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.99s (batch: 4.61s, save: 8.38s)	[pipeline.py: 300]
-05/10 07:48:53 INFO: [Worker 0] [PROFILE] Episode 104 house 1 success=True episode_total=0.42s:
-  episode_total: mean=186.29s, total=186.29s, count=1, min=186292.5ms, max=186292.5ms
-  sensor_polling: mean=453.1ms, total=135.93s, count=300, min=383.6ms, max=745.2ms
-  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8378.4ms, max=8378.4ms
-  physics_step: mean=21.5ms, total=6.44s, count=300, min=14.9ms, max=56.2ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4611.4ms, max=4611.4ms
-  task_sampling: mean=419.0ms, total=419.0ms, count=1, min=419.0ms, max=419.0ms
-  task_specific_sample: mean=415.7ms, total=415.7ms, count=1, min=415.7ms, max=415.7ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=364.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:48:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:48:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:48:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:48:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:48:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:48:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:48:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:48:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:48:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015440m	[env.py: 870]
-05/10 07:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:48:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70813475  0.05550243 -0.01543953] yaw=163.9deg	[env.py: 1019]
-05/10 07:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86117669  0.63471167 -0.01543953] yaw=-173.6deg	[env.py: 1019]
-05/10 07:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.03809936  0.82368361 -0.01543953] yaw=-152.4deg	[env.py: 1019]
-05/10 07:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:48:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.1ms, total=104.1ms	[env.py: 1075]
-05/10 07:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.708, 0.056, -0.015)	[env.py: 1079]
-05/10 07:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.9 deg	[env.py: 1082]
-05/10 07:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
-05/10 07:48:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:48:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:48:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:48:55 INFO: [Worker 0] Worker 0 house 1 episode 105/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:48:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:48:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:48:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:48:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:48:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.507s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:48:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.613[m] 82.701[deg]	[grasp_sample.py: 539]
-05/10 07:48:58 ERROR: [Worker 0] Worker 0 house 1 episode 105 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:48:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:48:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:48:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:48:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:48:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:48:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:48:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:48:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:48:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029996m	[env.py: 870]
-05/10 07:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:48:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17806521  1.08676638  0.02999555] yaw=-140.0deg	[env.py: 1019]
-05/10 07:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8466587   0.69959444  0.02999555] yaw=-177.2deg	[env.py: 1019]
-05/10 07:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89545351  1.14982916  0.02999555] yaw=-136.3deg	[env.py: 1019]
-05/10 07:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:49:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.2ms, total=212.2ms	[env.py: 1075]
-05/10 07:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.178, 1.087, 0.030)	[env.py: 1079]
-05/10 07:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.0 deg	[env.py: 1082]
-05/10 07:49:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m	[env.py: 1086]
-05/10 07:49:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:49:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:49:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:49:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:49:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:49:00 INFO: [Worker 0] Worker 0 house 1 episode 106/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:49:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:49:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:49:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:49:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:49:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:49:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.407[m] 97.546[deg]	[grasp_sample.py: 539]
-05/10 07:49:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:49:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:49:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:49:03 INFO: [Worker 0] Saved videos eagerly for episode 73 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:49:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 07:49:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:49:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:49:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:49:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:49:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:49:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.13s (batch: 3.46s, save: 10.67s)	[pipeline.py: 300]
-05/10 07:49:18 INFO: [Worker 0] [PROFILE] Episode 104 house 1 success=True episode_total=2.96s:
-  episode_total: mean=143.10s, total=715.50s, count=5, min=79988.8ms, max=181120.2ms
-  sensor_polling: mean=468.7ms, total=576.55s, count=1230, min=388.3ms, max=954.2ms
-  physics_step: mean=21.9ms, total=26.92s, count=1230, min=13.9ms, max=110.6ms
-  save_trajectories: mean=10.67s, total=10.67s, count=1, min=10667.7ms, max=10667.7ms
-  save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3464.7ms, max=3464.7ms
-  task_sampling: mean=591.5ms, total=2.96s, count=5, min=414.5ms, max=865.8ms
-  task_specific_sample: mean=587.9ms, total=2.94s, count=5, min=411.7ms, max=862.2ms
-  scene_randomize: mean=1.6ms, total=8.1ms, count=5, min=1.2ms, max=2.5ms
-  mj_forward_sync: mean=437.2us, total=2.2ms, count=5, min=0.4ms, max=0.5ms
-  policy_setup: mean=15.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:49:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:49:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:49:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:49:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:49:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:49:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:49:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:49:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:49:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024384m	[env.py: 870]
-05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:49:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65506544  0.7248321  -0.02438358] yaw=-160.4deg	[env.py: 1019]
-05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86001155  0.41467364 -0.02438358] yaw=173.6deg	[env.py: 1019]
-05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93241631  0.10680002 -0.02438358] yaw=148.1deg	[env.py: 1019]
-05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:49:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.3ms, total=213.3ms	[env.py: 1075]
-05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.655, 0.725, -0.024)	[env.py: 1079]
-05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg	[env.py: 1082]
-05/10 07:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m	[env.py: 1086]
-05/10 07:49:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:49:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:49:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:49:21 INFO: [Worker 0] Worker 0 house 1 episode 105/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:49:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:49:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:49:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:49:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.155s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:49:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:49:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.989s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:49:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.646[m] 88.803[deg]	[grasp_sample.py: 539]
-05/10 07:49:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:49:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:49:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:49:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:49:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:49:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:50:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:50:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:50:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:50:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:50:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:50:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:50:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:50:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:50:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:50:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:50:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:50:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:50:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:50:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:50:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.559s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:50:33 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.354[deg]	[grasp_sample.py: 539]
-05/10 07:50:35 ERROR: [Worker 0] Worker 0 house 1 episode 102 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:50:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:50:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:50:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:50:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:50:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:50:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:50:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:50:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:50:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:50:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006977m	[env.py: 870]
-05/10 07:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:50:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67370955  0.29685439  0.00697728] yaw=175.9deg	[env.py: 1019]
-05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11270103  0.93999273  0.00697728] yaw=-131.0deg	[env.py: 1019]
-05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.84472785  0.30724288  0.00697728] yaw=171.3deg	[env.py: 1019]
-05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:50:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=426.2ms, total=426.2ms	[env.py: 1075]
-05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.674, 0.297, 0.007)	[env.py: 1079]
-05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.9 deg	[env.py: 1082]
-05/10 07:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
-05/10 07:50:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:50:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:50:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:50:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:50:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:50:37 INFO: [Worker 0] Worker 0 house 1 episode 103/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:50:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:50:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:50:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:50:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:50:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.419s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:50:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.624[m] 94.785[deg]	[grasp_sample.py: 539]
-05/10 07:50:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:50:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:50:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:50:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:51:03 INFO: [Worker 0] Worker 0 house 1 episode 105 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:51:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:51:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:51:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:51:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:51:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:51:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:51:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:51:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:51:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:51:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:51:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:51:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:51:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.127s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:51:22 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.051s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:51:22 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.300[deg]	[grasp_sample.py: 539]
-05/10 07:51:23 ERROR: [Worker 0] Worker 0 house 1 episode 106 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:51:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:51:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:51:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:51:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:51:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:51:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:51:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:51:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:51:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:51:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:51:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002799m	[env.py: 870]
-05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:51:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7178002   0.76695599  0.00279895] yaw=-155.4deg	[env.py: 1019]
-05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73150779  0.52497578  0.00279895] yaw=-178.3deg	[env.py: 1019]
-05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77067458  0.76483631  0.00279895] yaw=-171.0deg	[env.py: 1019]
-05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:51:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.4ms, total=90.4ms	[env.py: 1075]
-05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.718, 0.767, 0.003)	[env.py: 1079]
-05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.4 deg	[env.py: 1082]
-05/10 07:51:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
-05/10 07:51:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:51:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:51:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:51:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:51:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:51:25 INFO: [Worker 0] Worker 0 house 1 episode 107/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:51:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:51:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:51:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:51:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:51:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.503s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:51:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.558[m] 80.293[deg]	[grasp_sample.py: 539]
-05/10 07:51:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:51:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:51:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:51:29 INFO: [Worker 0] Saved videos eagerly for episode 71 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:51:29 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 07:51:29 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
-05/10 07:51:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:51:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:51:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.10s (batch: 4.12s, save: 7.98s)	[pipeline.py: 300]
-05/10 07:51:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:51:42 INFO: [Worker 0] [PROFILE] Episode 105 house 1 success=True episode_total=0.67s:
-  episode_total: mean=190.53s, total=190.53s, count=1, min=190530.9ms, max=190530.9ms
-  sensor_polling: mean=484.6ms, total=140.53s, count=290, min=401.7ms, max=850.3ms
-  save_trajectories: mean=7.98s, total=7.98s, count=1, min=7979.4ms, max=7979.4ms
-  physics_step: mean=22.2ms, total=6.44s, count=290, min=16.9ms, max=45.1ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4122.5ms, max=4122.5ms
-  task_sampling: mean=669.3ms, total=669.3ms, count=1, min=669.3ms, max=669.3ms
-  task_specific_sample: mean=658.2ms, total=658.2ms, count=1, min=658.2ms, max=658.2ms
-  scene_randomize: mean=4.7ms, total=4.7ms, count=1, min=4.7ms, max=4.7ms
-  mj_forward_sync: mean=542.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:51:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:51:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:51:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:51:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:51:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:51:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:51:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:51:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:51:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043357m	[env.py: 870]
-05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:51:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 127.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84982174  1.13349091 -0.04335668] yaw=-146.7deg	[env.py: 1019]
-05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.17587796  1.06364523 -0.04335668] yaw=-140.7deg	[env.py: 1019]
-05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:51:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.4ms, total=240.5ms	[env.py: 1075]
-05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.850, 1.133, -0.043)	[env.py: 1079]
-05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.7 deg	[env.py: 1082]
-05/10 07:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m	[env.py: 1086]
-05/10 07:51:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:51:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:51:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:51:44 INFO: [Worker 0] Worker 0 house 1 episode 106/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:51:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:51:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:51:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:51:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:51:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.366s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:51:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.687[m] 99.262[deg]	[grasp_sample.py: 539]
-05/10 07:51:49 ERROR: [Worker 0] Worker 0 house 1 episode 106 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:51:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:51:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:51:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:51:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:51:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:51:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:51:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:51:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:51:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.000m, effective arm-mount z=0.860m (base_body_z=-0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000151m	[env.py: 870]
-05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:51:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-6.10434723e-01  4.91817806e-01 -1.50525032e-04] yaw=-168.3deg	[env.py: 1019]
-05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-6.34994998e-01  7.00075453e-01 -1.50525032e-04] yaw=-160.6deg	[env.py: 1019]
-05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:51:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=404.2ms, total=404.3ms	[env.py: 1075]
-05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.610, 0.492, -0.000)	[env.py: 1079]
-05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.3 deg	[env.py: 1082]
-05/10 07:51:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
-05/10 07:51:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:51:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:51:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:51:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:51:51 INFO: [Worker 0] Worker 0 house 1 episode 107/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:51:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:51:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:51:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:51:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:51:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:51:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.475s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:51:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.654[m] 90.045[deg]	[grasp_sample.py: 539]
-05/10 07:51:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:51:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:51:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:51:55 INFO: [Worker 0] Worker 0 house 1 episode 105 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:51:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:52:16 INFO: [Worker 0] Saved videos eagerly for episode 74 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:52:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 07:52:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:52:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:52:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:52:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:52:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:52:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.31s (batch: 4.04s, save: 10.27s)	[pipeline.py: 300]
-05/10 07:52:31 INFO: [Worker 0] [PROFILE] Episode 105 house 1 success=True episode_total=0.47s:
-  episode_total: mean=190.68s, total=190.68s, count=1, min=190677.4ms, max=190677.4ms
-  sensor_polling: mean=473.0ms, total=141.91s, count=300, min=399.3ms, max=902.7ms
-  save_trajectories: mean=10.27s, total=10.27s, count=1, min=10268.1ms, max=10268.1ms
-  physics_step: mean=20.9ms, total=6.26s, count=300, min=16.3ms, max=54.8ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4042.7ms, max=4042.7ms
-  task_sampling: mean=469.9ms, total=469.9ms, count=1, min=469.9ms, max=469.9ms
-  task_specific_sample: mean=466.2ms, total=466.2ms, count=1, min=466.2ms, max=466.2ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=438.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:52:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:52:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:52:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:52:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:52:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:52:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:52:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:52:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:52:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008298m	[env.py: 870]
-05/10 07:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:52:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00617873  0.96746525 -0.00829779] yaw=-148.8deg	[env.py: 1019]
-05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 133.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.18995664  0.97600765 -0.00829779] yaw=-137.0deg	[env.py: 1019]
-05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96781313  1.08136099 -0.00829779] yaw=-149.1deg	[env.py: 1019]
-05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:52:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.5ms, total=169.5ms	[env.py: 1075]
-05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.006, 0.967, -0.008)	[env.py: 1079]
-05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.8 deg	[env.py: 1082]
-05/10 07:52:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
-05/10 07:52:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:52:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:52:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:52:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:52:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:52:33 INFO: [Worker 0] Worker 0 house 1 episode 106/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:52:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:52:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:52:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:52:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:52:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.482s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:52:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.437[m] 88.726[deg]	[grasp_sample.py: 539]
-05/10 07:52:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:52:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:52:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:52:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:52:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:53:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:53:10 INFO: [Worker 0] Worker 0 house 1 episode 103 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:53:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:53:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:53:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:53:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:53:33 INFO: [Worker 0] Saved videos eagerly for episode 78 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:53:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 07:53:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:53:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:53:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:53:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.27s (batch: 4.04s, save: 8.23s)	[pipeline.py: 300]
-05/10 07:53:47 INFO: [Worker 0] [PROFILE] Episode 103 house 1 success=True episode_total=1.16s:
-  episode_total: mean=171.53s, total=343.06s, count=2, min=153018.0ms, max=190044.9ms
-  sensor_polling: mean=468.8ms, total=269.08s, count=574, min=385.0ms, max=876.1ms
-  physics_step: mean=22.6ms, total=12.94s, count=574, min=16.5ms, max=57.2ms
-  save_trajectories: mean=8.23s, total=8.23s, count=1, min=8227.4ms, max=8227.4ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4042.9ms, max=4042.9ms
-  task_sampling: mean=581.7ms, total=1.16s, count=2, min=465.6ms, max=697.9ms
-  task_specific_sample: mean=578.0ms, total=1.16s, count=2, min=461.5ms, max=694.4ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.4ms, max=2.4ms
-  mj_forward_sync: mean=513.0us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:53:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:53:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:53:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:53:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:53:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:53:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:53:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:53:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:53:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:53:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:53:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043382m	[env.py: 870]
-05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:53:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91750294  0.60379118  0.04338224] yaw=-163.5deg	[env.py: 1019]
-05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00342872  0.37941333  0.04338224] yaw=181.2deg	[env.py: 1019]
-05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75831635  0.52873705  0.04338224] yaw=-168.6deg	[env.py: 1019]
-05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:53:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.6ms, total=133.6ms	[env.py: 1075]
-05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.918, 0.604, 0.043)	[env.py: 1079]
-05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.5 deg	[env.py: 1082]
-05/10 07:53:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.794m	[env.py: 1086]
-05/10 07:53:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:53:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:53:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:53:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:53:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:53:48 INFO: [Worker 0] Worker 0 house 1 episode 104/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:53:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:53:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:53:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:53:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:53:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.457s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:53:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.386[m] 90.756[deg]	[grasp_sample.py: 539]
-05/10 07:53:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:53:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:53:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:53:54 INFO: [Worker 0] Worker 0 house 1 episode 107 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:54:21 INFO: [Worker 0] Saved videos eagerly for episode 78 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:54:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 07:54:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:54:23 INFO: [Worker 0] Worker 0 house 1 episode 107 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:54:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:54:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:54:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:54:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.40s (batch: 3.68s, save: 8.71s)	[pipeline.py: 300]
-05/10 07:54:35 INFO: [Worker 0] [PROFILE] Episode 107 house 1 success=True episode_total=1.18s:
-  episode_total: mean=112.18s, total=336.55s, count=3, min=3013.1ms, max=189485.5ms
-  sensor_polling: mean=467.0ms, total=256.38s, count=549, min=391.0ms, max=968.6ms
-  physics_step: mean=21.5ms, total=11.78s, count=549, min=13.9ms, max=53.7ms
-  save_trajectories: mean=8.71s, total=8.71s, count=1, min=8715.0ms, max=8715.0ms
-  save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3681.3ms, max=3681.3ms
-  task_sampling: mean=394.1ms, total=1.18s, count=3, min=321.5ms, max=473.3ms
-  task_specific_sample: mean=390.9ms, total=1.17s, count=3, min=318.5ms, max=470.2ms
-  scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.3ms, max=2.4ms
-  mj_forward_sync: mean=417.9us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:54:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:54:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:54:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:54:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:54:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:54:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:54:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:54:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:54:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034860m	[env.py: 870]
-05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:54:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88163103  1.00704365  0.03486018] yaw=-143.3deg	[env.py: 1019]
-05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69723163  0.20182029  0.03486018] yaw=161.1deg	[env.py: 1019]
-05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75970347  0.58003811  0.03486018] yaw=-173.4deg	[env.py: 1019]
-05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:54:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=334.8ms, total=334.9ms	[env.py: 1075]
-05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.882, 1.007, 0.035)	[env.py: 1079]
-05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.3 deg	[env.py: 1082]
-05/10 07:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m	[env.py: 1086]
-05/10 07:54:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:54:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:54:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:54:38 INFO: [Worker 0] Worker 0 house 1 episode 108/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:54:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:54:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:54:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:54:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:54:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:54:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.984s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:54:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.512[m] 80.207[deg]	[grasp_sample.py: 539]
-05/10 07:54:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:54:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:54:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:54:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:54:50 INFO: [Worker 0] Saved videos eagerly for episode 72 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:54:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 07:54:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:55:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:55:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:55:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.60s (batch: 4.08s, save: 7.53s)	[pipeline.py: 300]
-05/10 07:55:03 INFO: [Worker 0] [PROFILE] Episode 107 house 1 success=True episode_total=1.17s:
-  episode_total: mean=98.64s, total=197.29s, count=2, min=5384.1ms, max=191903.4ms
-  sensor_polling: mean=464.8ms, total=139.43s, count=300, min=389.2ms, max=802.4ms
-  save_trajectories: mean=7.53s, total=7.53s, count=1, min=7528.0ms, max=7528.0ms
-  physics_step: mean=21.5ms, total=6.46s, count=300, min=16.5ms, max=76.9ms
-  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4076.3ms, max=4076.3ms
-  task_sampling: mean=586.7ms, total=1.17s, count=2, min=512.9ms, max=660.5ms
-  task_specific_sample: mean=583.5ms, total=1.17s, count=2, min=509.5ms, max=657.6ms
-  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.2ms, max=2.2ms
-  mj_forward_sync: mean=421.7us, total=0.8ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:55:04 INFO: [Worker 0] Worker 0 house 1 episode 106 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:55:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:55:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:55:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:55:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:55:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:55:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:55:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024615m	[env.py: 870]
-05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:55:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01532467  1.12420052 -0.02461509] yaw=-126.9deg	[env.py: 1019]
-05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6327118   0.45866883 -0.02461509] yaw=188.2deg	[env.py: 1019]
-05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05151188  1.15230033 -0.02461509] yaw=-124.7deg	[env.py: 1019]
-05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:55:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.3ms, total=76.3ms	[env.py: 1075]
-05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.015, 1.124, -0.025)	[env.py: 1079]
-05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.9 deg	[env.py: 1082]
-05/10 07:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
-05/10 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:55:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:55:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:55:05 INFO: [Worker 0] Worker 0 house 1 episode 108/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:55:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:55:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:55:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:55:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:55:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.513s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:55:06 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.511[m] 88.555[deg]	[grasp_sample.py: 539]
-05/10 07:55:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:55:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:55:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:55:28 INFO: [Worker 0] Saved videos eagerly for episode 75 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:55:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 07:55:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:55:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:55:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:55:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:55:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:55:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.99s (batch: 4.59s, save: 11.39s)	[pipeline.py: 300]
-05/10 07:55:44 INFO: [Worker 0] [PROFILE] Episode 106 house 1 success=True episode_total=0.42s:
-  episode_total: mean=192.03s, total=192.03s, count=1, min=192032.5ms, max=192032.5ms
-  sensor_polling: mean=468.4ms, total=140.51s, count=300, min=398.5ms, max=835.1ms
-  save_trajectories: mean=11.39s, total=11.39s, count=1, min=11393.9ms, max=11393.9ms
-  physics_step: mean=21.8ms, total=6.54s, count=300, min=13.9ms, max=96.7ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4594.3ms, max=4594.3ms
-  task_sampling: mean=421.3ms, total=421.3ms, count=1, min=421.3ms, max=421.3ms
-  task_specific_sample: mean=418.0ms, total=418.0ms, count=1, min=418.0ms, max=418.0ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=426.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:55:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:55:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:55:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:55:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:55:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:55:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:55:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:55:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:55:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:55:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021984m	[env.py: 870]
-05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:55:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8081813   0.28752753 -0.0219844 ] yaw=174.7deg	[env.py: 1019]
-05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77959647  1.06546306 -0.0219844 ] yaw=-154.5deg	[env.py: 1019]
-05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84286777  0.39767234 -0.0219844 ] yaw=172.6deg	[env.py: 1019]
-05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:55:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.0ms, total=116.0ms	[env.py: 1075]
-05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.808, 0.288, -0.022)	[env.py: 1079]
-05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg	[env.py: 1082]
-05/10 07:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
-05/10 07:55:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:55:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:55:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:55:47 INFO: [Worker 0] Worker 0 house 1 episode 107/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:55:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:55:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:55:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:55:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:55:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.484s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:55:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.444[m] 85.718[deg]	[grasp_sample.py: 539]
-05/10 07:55:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:55:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:55:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:55:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:56:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:56:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:56:25 INFO: [Worker 0] Worker 0 house 1 episode 104 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:56:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:56:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:56:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:56:51 INFO: [Worker 0] Saved videos eagerly for episode 79 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:56:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 07:56:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:57:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:57:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:57:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.31s (batch: 4.11s, save: 10.19s)	[pipeline.py: 300]
-05/10 07:57:06 INFO: [Worker 0] [PROFILE] Episode 104 house 1 success=True episode_total=0.38s:
-  episode_total: mean=197.63s, total=197.63s, count=1, min=197625.3ms, max=197625.3ms
-  sensor_polling: mean=479.0ms, total=143.69s, count=300, min=404.7ms, max=831.3ms
-  save_trajectories: mean=10.19s, total=10.19s, count=1, min=10190.8ms, max=10190.8ms
-  physics_step: mean=22.9ms, total=6.87s, count=300, min=13.4ms, max=92.9ms
-  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4114.9ms, max=4114.9ms
-  task_sampling: mean=376.5ms, total=376.5ms, count=1, min=376.5ms, max=376.5ms
-  task_specific_sample: mean=373.2ms, total=373.2ms, count=1, min=373.2ms, max=373.2ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=386.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:57:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:57:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:57:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:57:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:57:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:57:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:57:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:57:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:57:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:57:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:57:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027621m	[env.py: 870]
-05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:57:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0772043   1.06922718  0.02762079] yaw=-138.0deg	[env.py: 1019]
-05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72077127  0.65327703  0.02762079] yaw=-175.4deg	[env.py: 1019]
-05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92848753  0.60938047  0.02762079] yaw=-173.3deg	[env.py: 1019]
-05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:57:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.7ms, total=159.7ms	[env.py: 1075]
-05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.077, 1.069, 0.028)	[env.py: 1079]
-05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.0 deg	[env.py: 1082]
-05/10 07:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
-05/10 07:57:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:57:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:57:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:57:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:57:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:57:08 INFO: [Worker 0] Worker 0 house 1 episode 105/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:57:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:57:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:57:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:57:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:57:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.550s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:57:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.388[m] 79.806[deg]	[grasp_sample.py: 539]
-05/10 07:57:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:57:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:57:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:57:09 INFO: [Worker 0] Worker 0 house 1 episode 108 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:57:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:57:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:57:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:57:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:57:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:57:33 INFO: [Worker 0] Saved videos eagerly for episode 79 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:57:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 07:57:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:57:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:57:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:57:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:57:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:57:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:57:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:57:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:57:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 84 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:57:39 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.455s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 07:57:39 ERROR: [Worker 0] Worker 0 house 1 episode 108 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 07:57:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:57:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:57:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:57:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:57:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:57:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:57:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:57:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:57:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035350m	[env.py: 870]
-05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:57:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97239233  0.10411686 -0.03534961] yaw=150.6deg	[env.py: 1019]
-05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75356522  0.39212204 -0.03534961] yaw=185.4deg	[env.py: 1019]
-05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02981332  0.28607511 -0.03534961] yaw=162.9deg	[env.py: 1019]
-05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:57:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.9ms, total=109.0ms	[env.py: 1075]
-05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.104, -0.035)	[env.py: 1079]
-05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.6 deg	[env.py: 1082]
-05/10 07:57:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
-05/10 07:57:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:57:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:57:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:57:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:57:41 INFO: [Worker 0] Worker 0 house 1 episode 109/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:57:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:57:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:57:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:57:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:57:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.852s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:57:42 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.419[m] 94.876[deg]	[grasp_sample.py: 539]
-05/10 07:57:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:57:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:57:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:57:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:57:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:57:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:57:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.10s (batch: 3.79s, save: 9.31s)	[pipeline.py: 300]
-05/10 07:57:47 INFO: [Worker 0] [PROFILE] Episode 108 house 1 success=True episode_total=0.62s:
-  episode_total: mean=189.74s, total=189.74s, count=1, min=189744.9ms, max=189744.9ms
-  sensor_polling: mean=456.9ms, total=137.08s, count=300, min=394.8ms, max=686.4ms
-  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9307.7ms, max=9307.7ms
-  physics_step: mean=21.9ms, total=6.57s, count=300, min=16.6ms, max=76.1ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3792.4ms, max=3792.4ms
-  task_sampling: mean=616.6ms, total=616.6ms, count=1, min=616.6ms, max=616.6ms
-  task_specific_sample: mean=608.7ms, total=608.7ms, count=1, min=608.7ms, max=608.7ms
-  scene_randomize: mean=6.5ms, total=6.5ms, count=1, min=6.5ms, max=6.5ms
-  mj_forward_sync: mean=461.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:57:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:57:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:57:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:57:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:57:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:57:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:57:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:57:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:57:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:57:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:57:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019121m	[env.py: 870]
-05/10 07:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:57:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:57:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96566076  1.12203406 -0.01912109] yaw=-135.9deg	[env.py: 1019]
-05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.14302909  1.08246219 -0.01912109] yaw=-141.2deg	[env.py: 1019]
-05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78885744  0.23159731 -0.01912109] yaw=155.2deg	[env.py: 1019]
-05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:57:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=543.3ms, total=543.4ms	[env.py: 1075]
-05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.966, 1.122, -0.019)	[env.py: 1079]
-05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.9 deg	[env.py: 1082]
-05/10 07:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
-05/10 07:57:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:57:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:57:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:57:49 INFO: [Worker 0] Worker 0 house 1 episode 109/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:57:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:57:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:57:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:57:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:57:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:57:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.558s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:57:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.516[m] 82.646[deg]	[grasp_sample.py: 539]
-05/10 07:57:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:57:52 ERROR: [Worker 0] Worker 0 house 1 episode 109 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:57:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:57:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:57:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:57:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:57:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:57:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:57:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:57:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003611m	[env.py: 870]
-05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:57:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68850868  0.87420624  0.00361133] yaw=-159.4deg	[env.py: 1019]
-05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7490022   0.19234529  0.00361133] yaw=164.7deg	[env.py: 1019]
-05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96662738  0.23081752  0.00361133] yaw=172.2deg	[env.py: 1019]
-05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:57:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.8ms, total=70.8ms	[env.py: 1075]
-05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.689, 0.874, 0.004)	[env.py: 1079]
-05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.4 deg	[env.py: 1082]
-05/10 07:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
-05/10 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:57:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:57:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:57:54 INFO: [Worker 0] Worker 0 house 1 episode 110/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:57:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:57:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:57:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:57:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:57:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:57:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:57:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.433s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:57:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.642[m] 88.399[deg]	[grasp_sample.py: 539]
-05/10 07:57:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:57:57 ERROR: [Worker 0] Worker 0 house 1 episode 110 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:57:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:57:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:57:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:57:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:57:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:57:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:57:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:57:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:57:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:57:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031143m	[env.py: 870]
-05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:57:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62918496  0.70971023  0.03114331] yaw=-156.6deg	[env.py: 1019]
-05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.61705869  0.36882602  0.03114331] yaw=182.8deg	[env.py: 1019]
-05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91682451  0.57016545  0.03114331] yaw=-172.6deg	[env.py: 1019]
-05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:57:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=227.4ms, total=227.5ms	[env.py: 1075]
-05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.629, 0.710, 0.031)	[env.py: 1079]
-05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.6 deg	[env.py: 1082]
-05/10 07:57:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m	[env.py: 1086]
-05/10 07:57:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:57:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:57:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:57:59 INFO: [Worker 0] Worker 0 house 1 episode 111/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:57:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:57:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:57:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:57:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:57:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:57:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:57:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:57:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:57:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:57:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:57:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:58:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.077s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:58:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.664[m] 88.420[deg]	[grasp_sample.py: 539]
-05/10 07:58:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:58:00 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.378s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:58:00 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.885[deg]	[grasp_sample.py: 539]
-05/10 07:58:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:58:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:58:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:58:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:58:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:58:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:58:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:58:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:58:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:58:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:58:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:58:02 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.375s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:58:02 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.862[deg]	[grasp_sample.py: 539]
-05/10 07:58:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:58:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:58:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:58:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:10	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:58:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:58:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:58:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:58:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:58:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:58:04 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.402s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:58:04 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.854[deg]	[grasp_sample.py: 539]
-05/10 07:58:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:58:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:58:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:58:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:58:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:58:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:58:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:58:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:58:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:58:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:58:33 INFO: [Worker 0] Worker 0 house 1 episode 107 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 07:58:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:58:56 INFO: [Worker 0] Saved videos eagerly for episode 76 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 07:58:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 07:58:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 07:59:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:59:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 07:59:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 07:59:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.12s (batch: 3.95s, save: 9.17s)	[pipeline.py: 300]
-05/10 07:59:10 INFO: [Worker 0] [PROFILE] Episode 107 house 1 success=True episode_total=0.39s:
-  episode_total: mean=203.86s, total=203.86s, count=1, min=203859.4ms, max=203859.4ms
-  sensor_polling: mean=472.5ms, total=141.74s, count=300, min=392.6ms, max=802.7ms
-  save_trajectories: mean=9.17s, total=9.17s, count=1, min=9167.7ms, max=9167.7ms
-  physics_step: mean=22.4ms, total=6.71s, count=300, min=12.8ms, max=56.7ms
-  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3950.3ms, max=3950.3ms
-  task_sampling: mean=390.4ms, total=390.4ms, count=1, min=390.4ms, max=390.4ms
-  task_specific_sample: mean=387.0ms, total=387.0ms, count=1, min=387.0ms, max=387.0ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=369.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 07:59:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:59:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:59:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:59:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:59:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:59:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:59:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:59:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:59:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:59:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:59:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017719m	[env.py: 870]
-05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:59:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10841638  1.10955991 -0.01771863] yaw=-130.8deg	[env.py: 1019]
-05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81747241  0.40805416 -0.01771863] yaw=173.3deg	[env.py: 1019]
-05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:59:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=304.1ms, total=304.2ms	[env.py: 1075]
-05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.108, 1.110, -0.018)	[env.py: 1079]
-05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.8 deg	[env.py: 1082]
-05/10 07:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
-05/10 07:59:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:59:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:59:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:59:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:59:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:59:12 INFO: [Worker 0] Worker 0 house 1 episode 108/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:59:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:59:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:59:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:59:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:59:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.549s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:59:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.422[m] 84.552[deg]	[grasp_sample.py: 539]
-05/10 07:59:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:59:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:59:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:59:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 07:59:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:59:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:59:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:59:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:59:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:59:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:59:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:59:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:59:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 07:59:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 07:59:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 07:59:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:59:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:59:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:59:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.522s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:59:30 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.285[deg]	[grasp_sample.py: 539]
-05/10 07:59:31 ERROR: [Worker 0] Worker 0 house 1 episode 105 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 07:59:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 07:59:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 07:59:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 07:59:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:59:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:59:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:59:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:59:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 07:59:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 07:59:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 07:59:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024172m	[env.py: 870]
-05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 07:59:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92637242  0.51557    -0.02417179] yaw=-166.1deg	[env.py: 1019]
-05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98818975  0.41766188 -0.02417179] yaw=183.0deg	[env.py: 1019]
-05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 07:59:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=430.9ms, total=430.9ms	[env.py: 1075]
-05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.516, -0.024)	[env.py: 1079]
-05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.1 deg	[env.py: 1082]
-05/10 07:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.777m	[env.py: 1086]
-05/10 07:59:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 07:59:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 07:59:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 07:59:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 07:59:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 07:59:34 INFO: [Worker 0] Worker 0 house 1 episode 106/240 collected=0/40	[pipeline.py: 1044]
-05/10 07:59:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
-05/10 07:59:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 07:59:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 07:59:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 07:59:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.858s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 07:59:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.354[m] 90.343[deg]	[grasp_sample.py: 539]
-05/10 07:59:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 07:59:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 07:59:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 07:59:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:00:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:00:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:00:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:00:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:00:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:00:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:00:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:00:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:00:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:00:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:00:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:00:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:00:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:00:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:00:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:00:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:00:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:00:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:00:28 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.860s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:00:28 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.241[deg]	[grasp_sample.py: 539]
-05/10 08:00:29 ERROR: [Worker 0] Worker 0 house 1 episode 109 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 08:00:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:00:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:00:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:00:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:00:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:00:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:00:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:00:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:00:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026932m	[env.py: 870]
-05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:00:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:00:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.9ms, total=205.0ms	[env.py: 1105]
-05/10 08:00:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 08:00:31 ERROR: [Worker 0] Worker 0 house 1 episode 110 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 08:00:32 INFO: [Worker 0] Worker 0 house 1 episode 111 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:00:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:00:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:00:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:00:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:00:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:00:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:00:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:00:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:00:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034454m	[env.py: 870]
-05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:00:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98793964  1.29388669  0.03445436] yaw=-137.1deg	[env.py: 1019]
-05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77278763  0.45763014  0.03445436] yaw=180.9deg	[env.py: 1019]
-05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83432878  0.1931617   0.03445436] yaw=170.1deg	[env.py: 1019]
-05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:00:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.7ms, total=111.8ms	[env.py: 1075]
-05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.988, 1.294, 0.034)	[env.py: 1079]
-05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.1 deg	[env.py: 1082]
-05/10 08:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
-05/10 08:00:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:00:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:00:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:00:33 INFO: [Worker 0] Worker 0 house 1 episode 111/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:00:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:00:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:00:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:00:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:00:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.798s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 08:00:35 ERROR: [Worker 0] Worker 0 house 1 episode 111 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 08:00:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:00:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:00:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:00:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:00:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:00:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:00:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:00:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:00:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.032m, effective arm-mount z=0.828m (base_body_z=-0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032405m	[env.py: 870]
-05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:00:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92712971  0.62188181 -0.03240464] yaw=-164.8deg	[env.py: 1019]
-05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89973314  0.31739723 -0.03240464] yaw=171.9deg	[env.py: 1019]
-05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:00:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=153.6ms, total=153.7ms	[env.py: 1075]
-05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.622, -0.032)	[env.py: 1079]
-05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.8 deg	[env.py: 1082]
-05/10 08:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.788m	[env.py: 1086]
-05/10 08:00:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:00:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:00:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:00:37 INFO: [Worker 0] Worker 0 house 1 episode 112/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:00:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:00:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:00:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:00:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:00:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:00:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.326[m] 80.579[deg]	[grasp_sample.py: 539]
-05/10 08:00:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:00:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:00:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:00:57 INFO: [Worker 0] Saved videos eagerly for episode 80 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:00:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 08:00:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:01:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:01:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:01:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.68s (batch: 3.92s, save: 7.76s)	[pipeline.py: 300]
-05/10 08:01:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:01:10 INFO: [Worker 0] [PROFILE] Episode 111 house 1 success=True episode_total=1.62s:
-  episode_total: mean=66.00s, total=198.01s, count=3, min=2749.6ms, max=191452.1ms
-  sensor_polling: mean=472.8ms, total=141.84s, count=300, min=398.2ms, max=772.0ms
-  save_trajectories: mean=7.76s, total=7.76s, count=1, min=7755.2ms, max=7755.2ms
-  physics_step: mean=22.1ms, total=6.62s, count=300, min=16.7ms, max=56.5ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3923.2ms, max=3923.2ms
-  task_sampling: mean=541.0ms, total=1.62s, count=3, min=302.1ms, max=875.2ms
-  task_specific_sample: mean=537.8ms, total=1.61s, count=3, min=299.4ms, max=870.8ms
-  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.1ms, max=2.9ms
-  mj_forward_sync: mean=476.4us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=17.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:01:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:01:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:01:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:01:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:01:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:01:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:01:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:01:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:01:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006537m	[env.py: 870]
-05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:01:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80535298  0.75267767 -0.00653732] yaw=-152.1deg	[env.py: 1019]
-05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92443357  0.57177343 -0.00653732] yaw=-179.4deg	[env.py: 1019]
-05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12628838  1.02724944 -0.00653732] yaw=-127.1deg	[env.py: 1019]
-05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:01:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=268.7ms, total=268.8ms	[env.py: 1075]
-05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.805, 0.753, -0.007)	[env.py: 1079]
-05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg	[env.py: 1082]
-05/10 08:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
-05/10 08:01:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:01:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:01:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:01:12 INFO: [Worker 0] Worker 0 house 1 episode 112/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:01:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:01:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:01:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:01:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:01:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.192s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:01:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.537[m] 93.328[deg]	[grasp_sample.py: 539]
-05/10 08:01:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:01:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:01:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:01:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:01:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:01:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:01:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:01:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:01:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:01:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:01:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:01:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:01:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:01:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:01:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:01:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:01:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:01:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:01:35 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.136s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:01:35 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.352[deg]	[grasp_sample.py: 539]
-05/10 08:01:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:01:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:01:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:01:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:01:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:01:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:01:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:01:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:01:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:01:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:01:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:01:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:01:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:01:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:01:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:01:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:01:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:01:49 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.397s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:01:49 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.594[deg]	[grasp_sample.py: 539]
-05/10 08:01:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:01:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:01:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:01:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:02:01 INFO: [Worker 0] Worker 0 house 1 episode 108 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:02:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:02:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:02:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:02:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:02:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:02:20 INFO: [Worker 0] Saved videos eagerly for episode 77 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:02:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 08:02:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:02:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:02:31 INFO: [Worker 0] Worker 0 house 1 episode 106 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:02:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:02:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:02:31 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.13s (batch: 3.77s, save: 7.35s)	[pipeline.py: 300]
-05/10 08:02:32 INFO: [Worker 0] [PROFILE] Episode 108 house 1 success=True episode_total=0.60s:
-  episode_total: mean=200.28s, total=200.28s, count=1, min=200282.4ms, max=200282.4ms
-  sensor_polling: mean=477.3ms, total=143.20s, count=300, min=387.6ms, max=815.9ms
-  save_trajectories: mean=7.35s, total=7.35s, count=1, min=7352.9ms, max=7352.9ms
-  physics_step: mean=22.3ms, total=6.70s, count=300, min=16.5ms, max=49.2ms
-  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3774.7ms, max=3774.7ms
-  task_sampling: mean=602.1ms, total=602.1ms, count=1, min=602.1ms, max=602.1ms
-  task_specific_sample: mean=598.5ms, total=598.5ms, count=1, min=598.5ms, max=598.5ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=424.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:02:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:02:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:02:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:02:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:02:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:02:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:02:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:02:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:02:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.016344m	[env.py: 870]
-05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:02:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8608763   0.58505137 -0.01634432] yaw=-163.5deg	[env.py: 1019]
-05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82444066  0.68576079 -0.01634432] yaw=-162.0deg	[env.py: 1019]
-05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72095761  0.4072764  -0.01634432] yaw=169.9deg	[env.py: 1019]
-05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:02:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.1ms, total=105.1ms	[env.py: 1075]
-05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.861, 0.585, -0.016)	[env.py: 1079]
-05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.5 deg	[env.py: 1082]
-05/10 08:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
-05/10 08:02:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:02:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:02:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:02:34 INFO: [Worker 0] Worker 0 house 1 episode 109/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:02:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:02:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:02:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:02:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:02:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.833s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:02:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.460[m] 93.588[deg]	[grasp_sample.py: 539]
-05/10 08:02:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:02:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:02:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:02:52 INFO: [Worker 0] Saved videos eagerly for episode 80 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:02:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 08:02:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:03:03 INFO: [Worker 0] Worker 0 house 1 episode 112 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:03:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:03:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:03:06 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.21s (batch: 4.04s, save: 9.18s)	[pipeline.py: 300]
-05/10 08:03:06 INFO: [Worker 0] [PROFILE] Episode 106 house 1 success=True episode_total=1.12s:
-  episode_total: mean=178.72s, total=357.44s, count=2, min=143841.2ms, max=213600.5ms
-  sensor_polling: mean=473.5ms, total=265.65s, count=561, min=402.0ms, max=935.7ms
-  physics_step: mean=21.9ms, total=12.27s, count=561, min=16.6ms, max=68.3ms
-  save_trajectories: mean=9.18s, total=9.18s, count=1, min=9177.2ms, max=9177.2ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4035.2ms, max=4035.2ms
-  task_sampling: mean=557.8ms, total=1.12s, count=2, min=455.7ms, max=659.9ms
-  task_specific_sample: mean=554.4ms, total=1.11s, count=2, min=452.4ms, max=656.4ms
-  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.6ms, max=2.1ms
-  mj_forward_sync: mean=463.9us, total=0.9ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:03:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:03:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:03:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:03:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:03:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:03:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:03:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001454m	[env.py: 870]
-05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:03:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93691173  1.23958612 -0.00145398] yaw=-140.5deg	[env.py: 1019]
-05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88078332  0.91722107 -0.00145398] yaw=-157.5deg	[env.py: 1019]
-05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97438877  1.00816909 -0.00145398] yaw=-147.6deg	[env.py: 1019]
-05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:03:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=78.4ms, total=78.4ms	[env.py: 1075]
-05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.937, 1.240, -0.001)	[env.py: 1079]
-05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.5 deg	[env.py: 1082]
-05/10 08:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
-05/10 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:03:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:03:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:03:08 INFO: [Worker 0] Worker 0 house 1 episode 107/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:03:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:03:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:03:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:03:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:03:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.490s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 08:03:10 ERROR: [Worker 0] Worker 0 house 1 episode 107 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 08:03:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:03:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:03:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:03:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:03:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:03:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:03:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:03:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:03:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:03:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:03:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015325m	[env.py: 870]
-05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:03:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64205469  0.69222918 -0.0153247 ] yaw=-172.4deg	[env.py: 1019]
-05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89153192  0.96781741 -0.0153247 ] yaw=-158.4deg	[env.py: 1019]
-05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.70777362  0.17887165 -0.0153247 ] yaw=170.0deg	[env.py: 1019]
-05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:03:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.8ms, total=223.8ms	[env.py: 1075]
-05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.642, 0.692, -0.015)	[env.py: 1079]
-05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.4 deg	[env.py: 1082]
-05/10 08:03:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
-05/10 08:03:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:03:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:03:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:03:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:03:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:03:12 INFO: [Worker 0] Worker 0 house 1 episode 108/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:03:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:03:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:03:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:03:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:03:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.474s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:03:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.684[m] 99.754[deg]	[grasp_sample.py: 539]
-05/10 08:03:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:03:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:03:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:03:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:03:28 INFO: [Worker 0] Saved videos eagerly for episode 73 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:03:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 08:03:28 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
-05/10 08:03:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:03:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:03:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:03:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:03:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.38s (batch: 4.06s, save: 9.33s)	[pipeline.py: 300]
-05/10 08:03:42 INFO: [Worker 0] [PROFILE] Episode 112 house 1 success=True episode_total=1.54s:
-  episode_total: mean=102.20s, total=510.98s, count=5, min=217.6ms, max=185273.6ms
-  sensor_polling: mean=471.6ms, total=400.89s, count=850, min=390.4ms, max=914.4ms
-  physics_step: mean=22.0ms, total=18.71s, count=850, min=13.3ms, max=73.1ms
-  save_trajectories: mean=9.33s, total=9.33s, count=1, min=9326.4ms, max=9326.4ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4058.1ms, max=4058.1ms
-  task_specific_sample: mean=348.1ms, total=1.74s, count=5, min=211.2ms, max=429.2ms
-  task_sampling: mean=385.8ms, total=1.54s, count=4, min=345.8ms, max=432.2ms
-  task_sampling_failed: mean=217.6ms, total=217.6ms, count=1, min=217.6ms, max=217.6ms
-  scene_randomize: mean=1.8ms, total=8.9ms, count=5, min=1.3ms, max=2.4ms
-  mj_forward_sync: mean=484.5us, total=2.4ms, count=5, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.3us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:03:43 INFO: [Worker 0] Worker 0 house 1 episode 112 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:03:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:03:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:03:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:03:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:03:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:03:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:03:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:03:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:03:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013362m	[env.py: 870]
-05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:03:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.71900032  0.07203212 -0.01336236] yaw=155.7deg	[env.py: 1019]
-05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:03:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.7ms, total=215.7ms	[env.py: 1075]
-05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.719, 0.072, -0.013)	[env.py: 1079]
-05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.7 deg	[env.py: 1082]
-05/10 08:03:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
-05/10 08:03:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:03:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:03:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:03:44 INFO: [Worker 0] Worker 0 house 1 episode 113/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:03:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:03:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:03:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:03:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:03:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.567s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:03:46 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.667[m] 101.204[deg]	[grasp_sample.py: 539]
-05/10 08:03:47 ERROR: [Worker 0] Worker 0 house 1 episode 113 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 08:03:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:03:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:03:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:03:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:03:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:03:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:03:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044101m	[env.py: 870]
-05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:03:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72835717 -0.02680698  0.04410097] yaw=145.6deg	[env.py: 1019]
-05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.786282    0.06654975  0.04410097] yaw=164.1deg	[env.py: 1019]
-05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90279776  0.82122878  0.04410097] yaw=-152.6deg	[env.py: 1019]
-05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:03:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=374.5ms, total=374.6ms	[env.py: 1075]
-05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.728, -0.027, 0.044)	[env.py: 1079]
-05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.6 deg	[env.py: 1082]
-05/10 08:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
-05/10 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:03:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:03:49 INFO: [Worker 0] Worker 0 house 1 episode 114/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:03:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:03:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:03:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:03:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:03:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.746s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:03:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.640[m] 85.094[deg]	[grasp_sample.py: 539]
-05/10 08:03:56 ERROR: [Worker 0] Worker 0 house 1 episode 114 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 08:03:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:03:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:03:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:03:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:03:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:03:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:03:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:03:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:03:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:03:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:03:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032487m	[env.py: 870]
-05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:03:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.11910602  0.89326744  0.03248694] yaw=-154.3deg	[env.py: 1019]
-05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74769677  0.22650094  0.03248694] yaw=172.1deg	[env.py: 1019]
-05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97909886  0.65906605  0.03248694] yaw=-158.0deg	[env.py: 1019]
-05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:03:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.1ms, total=138.1ms	[env.py: 1075]
-05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.119, 0.893, 0.032)	[env.py: 1079]
-05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.3 deg	[env.py: 1082]
-05/10 08:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.714m	[env.py: 1086]
-05/10 08:03:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:03:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:03:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:03:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:03:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:03:58 INFO: [Worker 0] Worker 0 house 1 episode 115/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:03:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:03:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:03:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:03:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:03:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.455s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:03:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.308[m] 85.034[deg]	[grasp_sample.py: 539]
-05/10 08:03:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:03:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:03:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:04:07 INFO: [Worker 0] Saved videos eagerly for episode 81 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:04:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 08:04:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:04:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:04:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:04:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.31s (batch: 4.48s, save: 8.82s)	[pipeline.py: 300]
-05/10 08:04:21 INFO: [Worker 0] [PROFILE] Episode 112 house 1 success=True episode_total=0.54s:
-  episode_total: mean=189.59s, total=189.59s, count=1, min=189587.9ms, max=189587.9ms
-  sensor_polling: mean=463.7ms, total=139.11s, count=300, min=392.3ms, max=843.1ms
-  save_trajectories: mean=8.82s, total=8.82s, count=1, min=8822.3ms, max=8822.3ms
-  physics_step: mean=22.6ms, total=6.79s, count=300, min=17.1ms, max=83.3ms
-  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4483.8ms, max=4483.8ms
-  task_sampling: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms
-  task_specific_sample: mean=534.9ms, total=534.9ms, count=1, min=534.9ms, max=534.9ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=392.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:04:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:04:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:04:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:04:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:04:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:04:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:04:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:04:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:04:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041587m	[env.py: 870]
-05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:04:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02197491  0.85040008  0.04158686] yaw=-156.8deg	[env.py: 1019]
-05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00709142  0.12615778  0.04158686] yaw=149.6deg	[env.py: 1019]
-05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.72237844  0.6271475   0.04158686] yaw=-178.1deg	[env.py: 1019]
-05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:04:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=380.8ms, total=380.9ms	[env.py: 1075]
-05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.022, 0.850, 0.042)	[env.py: 1079]
-05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.8 deg	[env.py: 1082]
-05/10 08:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m	[env.py: 1086]
-05/10 08:04:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:04:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:04:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:04:23 INFO: [Worker 0] Worker 0 house 1 episode 113/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:04:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:04:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:04:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:04:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.144s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:04:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.111s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:04:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.342[m] 85.162[deg]	[grasp_sample.py: 539]
-05/10 08:04:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:04:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:04:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:04:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:04:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:04:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:04:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:04:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:04:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:04:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:05:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:05:10 INFO: [Worker 0] Worker 0 house 1 episode 109 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:05:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:05:32 INFO: [Worker 0] Saved videos eagerly for episode 78 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:05:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 08:05:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:05:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:05:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:05:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.21s (batch: 4.36s, save: 7.85s)	[pipeline.py: 300]
-05/10 08:05:45 INFO: [Worker 0] [PROFILE] Episode 109 house 1 success=True episode_total=0.39s:
-  episode_total: mean=190.98s, total=190.98s, count=1, min=190983.1ms, max=190983.1ms
-  sensor_polling: mean=481.0ms, total=144.29s, count=300, min=402.9ms, max=906.3ms
-  save_trajectories: mean=7.85s, total=7.85s, count=1, min=7852.4ms, max=7852.4ms
-  physics_step: mean=22.6ms, total=6.79s, count=300, min=16.3ms, max=52.9ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4362.0ms, max=4362.0ms
-  task_sampling: mean=391.0ms, total=391.0ms, count=1, min=391.0ms, max=391.0ms
-  task_specific_sample: mean=387.6ms, total=387.6ms, count=1, min=387.6ms, max=387.6ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=362.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:05:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:05:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:05:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:05:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:05:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:05:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:05:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040086m	[env.py: 870]
-05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:05:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75636316  0.37713318 -0.0400855 ] yaw=172.7deg	[env.py: 1019]
-05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99822012  1.06129379 -0.0400855 ] yaw=-149.8deg	[env.py: 1019]
-05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8188483   0.70102521 -0.0400855 ] yaw=-155.8deg	[env.py: 1019]
-05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:05:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.7ms, total=179.7ms	[env.py: 1075]
-05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.756, 0.377, -0.040)	[env.py: 1079]
-05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.7 deg	[env.py: 1082]
-05/10 08:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
-05/10 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:05:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:05:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:05:47 INFO: [Worker 0] Worker 0 house 1 episode 110/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:05:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:05:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:05:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:05:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:05:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.491s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:05:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.553[m] 98.601[deg]	[grasp_sample.py: 539]
-05/10 08:05:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:05:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:05:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:05:48 INFO: [Worker 0] Worker 0 house 1 episode 108 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:06:13 INFO: [Worker 0] Saved videos eagerly for episode 81 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:06:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 08:06:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:06:24 INFO: [Worker 0] Worker 0 house 1 episode 115 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:06:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:06:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:06:26 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.71s (batch: 3.99s, save: 8.72s)	[pipeline.py: 300]
-05/10 08:06:27 INFO: [Worker 0] [PROFILE] Episode 108 house 1 success=True episode_total=0.82s:
-  episode_total: mean=98.43s, total=196.85s, count=2, min=1976.7ms, max=194876.0ms
-  sensor_polling: mean=479.0ms, total=143.70s, count=300, min=398.8ms, max=942.9ms
-  save_trajectories: mean=8.72s, total=8.72s, count=1, min=8717.8ms, max=8717.8ms
-  physics_step: mean=22.7ms, total=6.82s, count=300, min=16.8ms, max=132.9ms
-  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3993.3ms, max=3993.3ms
-  task_sampling: mean=407.9ms, total=815.9ms, count=2, min=364.0ms, max=451.9ms
-  task_specific_sample: mean=404.4ms, total=808.8ms, count=2, min=359.8ms, max=449.0ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.1ms, max=2.8ms
-  mj_forward_sync: mean=472.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:06:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:06:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:06:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:06:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:06:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:06:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:06:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:06:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:06:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038120m	[env.py: 870]
-05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:06:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96649553  0.34127306  0.03811978] yaw=164.4deg	[env.py: 1019]
-05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94454104  1.14825896  0.03811978] yaw=-129.2deg	[env.py: 1019]
-05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90293912  0.12110949  0.03811978] yaw=158.3deg	[env.py: 1019]
-05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:06:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=73.8ms, total=73.9ms	[env.py: 1075]
-05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.966, 0.341, 0.038)	[env.py: 1079]
-05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.4 deg	[env.py: 1082]
-05/10 08:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.749m	[env.py: 1086]
-05/10 08:06:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:06:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:06:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:06:29 INFO: [Worker 0] Worker 0 house 1 episode 109/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:06:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:06:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:06:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:06:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:06:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.678s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:06:29 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.313[m] 89.444[deg]	[grasp_sample.py: 539]
-05/10 08:06:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:06:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:06:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:06:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:06:47 INFO: [Worker 0] Saved videos eagerly for episode 74 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:06:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 08:06:47 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
-05/10 08:06:52 INFO: [Worker 0] Worker 0 house 1 episode 113 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:06:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:06:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:07:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:07:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:07:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:07:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.55s (batch: 4.12s, save: 10.43s)	[pipeline.py: 300]
-05/10 08:07:02 INFO: [Worker 0] [PROFILE] Episode 115 house 1 success=True episode_total=1.46s:
-  episode_total: mean=65.09s, total=195.26s, count=3, min=3203.1ms, max=184546.4ms
-  sensor_polling: mean=479.5ms, total=135.70s, count=283, min=404.2ms, max=865.6ms
-  save_trajectories: mean=10.43s, total=10.43s, count=1, min=10429.4ms, max=10429.4ms
-  physics_step: mean=21.8ms, total=6.17s, count=283, min=13.5ms, max=81.2ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4123.8ms, max=4123.8ms
-  task_sampling: mean=487.8ms, total=1.46s, count=3, min=353.0ms, max=601.6ms
-  task_specific_sample: mean=484.7ms, total=1.45s, count=3, min=350.6ms, max=598.2ms
-  scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.1ms, max=2.3ms
-  mj_forward_sync: mean=453.8us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=17.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:07:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:07:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:07:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:07:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:07:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:07:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:07:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:07:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:07:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028399m	[env.py: 870]
-05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:07:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62196844  0.55344281 -0.0283987 ] yaw=-169.8deg	[env.py: 1019]
-05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96773634  0.37155314 -0.0283987 ] yaw=176.8deg	[env.py: 1019]
-05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:07:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.1ms, total=202.2ms	[env.py: 1075]
-05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.622, 0.553, -0.028)	[env.py: 1079]
-05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.8 deg	[env.py: 1082]
-05/10 08:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
-05/10 08:07:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:07:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:07:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:07:05 INFO: [Worker 0] Worker 0 house 1 episode 116/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:07:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:07:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:07:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:07:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:07:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.521s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:07:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.658[m] 90.869[deg]	[grasp_sample.py: 539]
-05/10 08:07:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:07:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:07:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:07:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:07:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:07:16 INFO: [Worker 0] Saved videos eagerly for episode 82 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:07:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 08:07:16 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
-05/10 08:07:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:07:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:07:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.71s (batch: 4.73s, save: 8.98s)	[pipeline.py: 300]
-05/10 08:07:31 INFO: [Worker 0] [PROFILE] Episode 113 house 1 success=True episode_total=0.66s:
-  episode_total: mean=187.71s, total=187.71s, count=1, min=187705.7ms, max=187705.7ms
-  sensor_polling: mean=474.6ms, total=137.15s, count=289, min=406.2ms, max=694.0ms
-  save_trajectories: mean=8.98s, total=8.98s, count=1, min=8978.6ms, max=8978.6ms
-  physics_step: mean=22.2ms, total=6.41s, count=289, min=16.8ms, max=74.3ms
-  save_batch_prep: mean=4.73s, total=4.73s, count=1, min=4732.6ms, max=4732.6ms
-  task_sampling: mean=655.4ms, total=655.4ms, count=1, min=655.4ms, max=655.4ms
-  task_specific_sample: mean=651.5ms, total=651.5ms, count=1, min=651.5ms, max=651.5ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=462.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:07:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:07:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:07:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:07:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:07:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:07:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:07:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:07:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:07:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049670m	[env.py: 870]
-05/10 08:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:07:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.61715067  0.3445453   0.04966987] yaw=166.8deg	[env.py: 1019]
-05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15329611  1.1217256   0.04966987] yaw=-141.0deg	[env.py: 1019]
-05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8172384   0.34068199  0.04966987] yaw=167.6deg	[env.py: 1019]
-05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:07:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.2ms, total=178.3ms	[env.py: 1075]
-05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.617, 0.345, 0.050)	[env.py: 1079]
-05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.8 deg	[env.py: 1082]
-05/10 08:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
-05/10 08:07:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:07:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:07:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:07:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:07:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:07:33 INFO: [Worker 0] Worker 0 house 1 episode 114/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:07:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.165s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:07:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:07:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:07:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:07:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.282s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:07:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.616[m] 86.425[deg]	[grasp_sample.py: 539]
-05/10 08:07:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:07:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:07:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:07:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:07:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:07:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:07:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:07:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:07:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:07:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:07:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:07:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:07:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:07:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:07:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:07:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:07:58 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.498s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:07:58 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.157[deg]	[grasp_sample.py: 539]
-05/10 08:07:59 ERROR: [Worker 0] Worker 0 house 1 episode 109 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 08:08:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:08:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:08:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:08:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:08:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:08:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:08:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:08:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:08:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027000m	[env.py: 870]
-05/10 08:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:08:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92561249  1.19977176  0.02700034] yaw=-139.3deg	[env.py: 1019]
-05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.17611746  0.97866325  0.02700034] yaw=-129.6deg	[env.py: 1019]
-05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.1766583   1.13828554  0.02700034] yaw=-126.7deg	[env.py: 1019]
-05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:08:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=332.3ms, total=332.3ms	[env.py: 1075]
-05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 1.200, 0.027)	[env.py: 1079]
-05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.3 deg	[env.py: 1082]
-05/10 08:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m	[env.py: 1086]
-05/10 08:08:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:08:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:08:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:08:02 INFO: [Worker 0] Worker 0 house 1 episode 110/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:08:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:08:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:08:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:08:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:08:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.819s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:08:05 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.656[m] 85.526[deg]	[grasp_sample.py: 539]
-05/10 08:08:06 ERROR: [Worker 0] Worker 0 house 1 episode 110 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 08:08:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:08:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:08:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:08:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:08:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:08:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:08:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002339m	[env.py: 870]
-05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:08:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97966094  0.14358516 -0.00233859] yaw=146.6deg	[env.py: 1019]
-05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01694197  0.68503676 -0.00233859] yaw=-158.6deg	[env.py: 1019]
-05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.05150096  0.92608314 -0.00233859] yaw=-142.0deg	[env.py: 1019]
-05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:08:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.9ms, total=115.9ms	[env.py: 1075]
-05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.980, 0.144, -0.002)	[env.py: 1079]
-05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.6 deg	[env.py: 1082]
-05/10 08:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.798m	[env.py: 1086]
-05/10 08:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:08:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:08:08 INFO: [Worker 0] Worker 0 house 1 episode 111/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:08:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:08:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:08:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:08:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:08:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.467s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:08:09 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.338[m] 86.155[deg]	[grasp_sample.py: 539]
-05/10 08:08:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:08:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:08:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:08:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:08:21 INFO: [Worker 0] Worker 0 house 1 episode 110 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:08:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:08:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:08:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:08:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:08:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:08:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:08:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:08:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:08:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:08:41 INFO: [Worker 0] Saved videos eagerly for episode 79 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:08:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 08:08:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:08:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:08:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:08:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:08:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:08:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:08:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:08:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:08:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.678s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:08:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.057[m] 2.885[deg]	[grasp_sample.py: 539]
-05/10 08:08:45 ERROR: [Worker 0] Worker 0 house 1 episode 114 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 08:08:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:08:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:08:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:08:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:08:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:08:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:08:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:08:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:08:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020945m	[env.py: 870]
-05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:08:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10685944  0.91875293  0.0209447 ] yaw=-151.5deg	[env.py: 1019]
-05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83843859  0.77665177  0.0209447 ] yaw=-153.1deg	[env.py: 1019]
-05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02314024  1.13302406  0.0209447 ] yaw=-128.9deg	[env.py: 1019]
-05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:08:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.0ms, total=106.0ms	[env.py: 1075]
-05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.107, 0.919, 0.021)	[env.py: 1079]
-05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.5 deg	[env.py: 1082]
-05/10 08:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.738m	[env.py: 1086]
-05/10 08:08:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:08:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:08:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:08:47 INFO: [Worker 0] Worker 0 house 1 episode 115/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:08:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:08:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:08:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:08:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:08:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.446s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:08:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.350[m] 88.349[deg]	[grasp_sample.py: 539]
-05/10 08:08:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:08:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:08:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:08:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:08:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:08:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:08:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.31s (batch: 3.81s, save: 7.50s)	[pipeline.py: 300]
-05/10 08:08:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:08:53 INFO: [Worker 0] [PROFILE] Episode 110 house 1 success=True episode_total=0.45s:
-  episode_total: mean=186.54s, total=186.54s, count=1, min=186543.0ms, max=186543.0ms
-  sensor_polling: mean=477.9ms, total=143.37s, count=300, min=406.9ms, max=859.7ms
-  save_trajectories: mean=7.50s, total=7.50s, count=1, min=7503.7ms, max=7503.7ms
-  physics_step: mean=23.7ms, total=7.11s, count=300, min=16.4ms, max=83.0ms
-  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3807.4ms, max=3807.4ms
-  task_sampling: mean=445.5ms, total=445.5ms, count=1, min=445.5ms, max=445.5ms
-  task_specific_sample: mean=442.0ms, total=442.0ms, count=1, min=442.0ms, max=442.0ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=381.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:08:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:08:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:08:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:08:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:08:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:08:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:08:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:08:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:08:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:08:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:08:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015608m	[env.py: 870]
-05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:08:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03607037  0.23393845 -0.01560765] yaw=164.3deg	[env.py: 1019]
-05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70402536  0.42603575 -0.01560765] yaw=166.1deg	[env.py: 1019]
-05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85756499  0.57784306 -0.01560765] yaw=-167.5deg	[env.py: 1019]
-05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:08:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.1ms, total=121.1ms	[env.py: 1075]
-05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.036, 0.234, -0.016)	[env.py: 1079]
-05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.3 deg	[env.py: 1082]
-05/10 08:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.711m	[env.py: 1086]
-05/10 08:08:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:08:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:08:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:08:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:08:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:08:55 INFO: [Worker 0] Worker 0 house 1 episode 111/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:08:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:08:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:08:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:08:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:08:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.420s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:08:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.288[m] 86.299[deg]	[grasp_sample.py: 539]
-05/10 08:08:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:08:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:08:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:09:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:09:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:09:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:09:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:09:35 INFO: [Worker 0] Worker 0 house 1 episode 116 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:09:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:09:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:09:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:09:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:09:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:09:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:09:58 INFO: [Worker 0] Saved videos eagerly for episode 75 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:09:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 08:09:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:09:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:10:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:10:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:10:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:10:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.114s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:10:10 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.786s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:10:10 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.164[deg]	[grasp_sample.py: 539]
-05/10 08:10:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:10:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:10:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:10:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:10:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:10:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.44s (batch: 6.33s, save: 11.11s)	[pipeline.py: 300]
-05/10 08:10:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:10:16 INFO: [Worker 0] [PROFILE] Episode 116 house 1 success=True episode_total=0.51s:
-  episode_total: mean=192.40s, total=192.40s, count=1, min=192402.3ms, max=192402.3ms
-  sensor_polling: mean=468.5ms, total=140.55s, count=300, min=401.3ms, max=1018.9ms
-  save_trajectories: mean=11.11s, total=11.11s, count=1, min=11112.7ms, max=11112.7ms
-  save_batch_prep: mean=6.33s, total=6.33s, count=1, min=6325.2ms, max=6325.2ms
-  physics_step: mean=20.6ms, total=6.19s, count=300, min=13.4ms, max=50.2ms
-  task_sampling: mean=507.0ms, total=507.0ms, count=1, min=507.0ms, max=507.0ms
-  task_specific_sample: mean=503.8ms, total=503.8ms, count=1, min=503.8ms, max=503.8ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=367.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:10:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:10:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:10:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:10:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:10:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:10:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:10:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:10:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:10:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043519m	[env.py: 870]
-05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:10:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96588767  1.2349684  -0.04351858] yaw=-145.8deg	[env.py: 1019]
-05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.66847816  0.48843002 -0.04351858] yaw=-178.6deg	[env.py: 1019]
-05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:10:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=336.7ms, total=336.7ms	[env.py: 1075]
-05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.966, 1.235, -0.044)	[env.py: 1079]
-05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.8 deg	[env.py: 1082]
-05/10 08:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
-05/10 08:10:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:10:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:10:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:10:19 INFO: [Worker 0] Worker 0 house 1 episode 117/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:10:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:10:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:10:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:10:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:10:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.626s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:10:21 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.671[m] 92.514[deg]	[grasp_sample.py: 539]
-05/10 08:10:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:10:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:10:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:10:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:10:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:10:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:10:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:10:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:10:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:10:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:10:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.427s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:10:55 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.859[deg]	[grasp_sample.py: 539]
-05/10 08:10:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:10:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:10:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:10:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:10:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:10:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:10:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:10:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:10:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:10:59 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.426s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:10:59 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.787[deg]	[grasp_sample.py: 539]
-05/10 08:10:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:10:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:10:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:11:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:11:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:11:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:11:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:11:18 INFO: [Worker 0] Worker 0 house 1 episode 111 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:11:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:11:20 INFO: [Worker 0] Worker 0 house 1 episode 115 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:11:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:11:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:11:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:11:38 INFO: [Worker 0] Saved videos eagerly for episode 82 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:11:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 08:11:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:11:40 INFO: [Worker 0] Saved videos eagerly for episode 83 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:11:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 08:11:40 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
-05/10 08:11:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:11:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:11:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:11:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.08s (batch: 3.43s, save: 7.64s)	[pipeline.py: 300]
-05/10 08:11:50 INFO: [Worker 0] [PROFILE] Episode 111 house 1 success=True episode_total=1.38s:
-  episode_total: mean=106.03s, total=318.09s, count=3, min=4848.7ms, max=222100.5ms
-  sensor_polling: mean=480.5ms, total=215.74s, count=449, min=409.3ms, max=884.2ms
-  physics_step: mean=22.1ms, total=9.93s, count=449, min=13.4ms, max=67.0ms
-  save_trajectories: mean=7.64s, total=7.64s, count=1, min=7642.8ms, max=7642.8ms
-  save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3434.7ms, max=3434.7ms
-  task_sampling: mean=459.9ms, total=1.38s, count=3, min=343.2ms, max=683.2ms
-  task_specific_sample: mean=456.6ms, total=1.37s, count=3, min=340.1ms, max=680.0ms
-  scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.1ms, max=2.3ms
-  mj_forward_sync: mean=432.2us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=15.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:11:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:11:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:11:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:11:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:11:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:11:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:11:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:11:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:11:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015783m	[env.py: 870]
-05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:11:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7251548   0.40710438  0.01578317] yaw=174.3deg	[env.py: 1019]
-05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84546206  0.52889328  0.01578317] yaw=-177.3deg	[env.py: 1019]
-05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03853611  0.71914767  0.01578317] yaw=-168.5deg	[env.py: 1019]
-05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:11:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.2ms, total=121.2ms	[env.py: 1075]
-05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.725, 0.407, 0.016)	[env.py: 1079]
-05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.3 deg	[env.py: 1082]
-05/10 08:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m	[env.py: 1086]
-05/10 08:11:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:11:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:11:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:11:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:11:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.84s (batch: 3.98s, save: 7.86s)	[pipeline.py: 300]
-05/10 08:11:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:11:52 INFO: [Worker 0] Worker 0 house 1 episode 112/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:11:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:11:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:11:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:11:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:11:52 INFO: [Worker 0] [PROFILE] Episode 115 house 1 success=True episode_total=0.80s:
-  episode_total: mean=129.19s, total=258.38s, count=2, min=72963.1ms, max=185413.6ms
-  sensor_polling: mean=479.6ms, total=199.04s, count=415, min=390.3ms, max=899.6ms
-  physics_step: mean=22.0ms, total=9.12s, count=415, min=13.8ms, max=66.6ms
-  save_trajectories: mean=7.86s, total=7.86s, count=1, min=7858.2ms, max=7858.2ms
-  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3981.6ms, max=3981.6ms
-  task_sampling: mean=401.3ms, total=802.5ms, count=2, min=341.3ms, max=461.3ms
-  task_specific_sample: mean=397.6ms, total=795.2ms, count=2, min=338.3ms, max=456.9ms
-  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms
-  mj_forward_sync: mean=459.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:11:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.575s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:11:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.584[m] 99.246[deg]	[grasp_sample.py: 539]
-05/10 08:11:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:11:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:11:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:11:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:11:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:11:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:11:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:11:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:11:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:11:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:11:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:11:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008152m	[env.py: 870]
-05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:11:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8225286   0.35851003 -0.00815187] yaw=171.4deg	[env.py: 1019]
-05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1729353   1.01885179 -0.00815187] yaw=-125.8deg	[env.py: 1019]
-05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75296467  0.71292002 -0.00815187] yaw=-163.6deg	[env.py: 1019]
-05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:11:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.5ms, total=202.6ms	[env.py: 1075]
-05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.359, -0.008)	[env.py: 1079]
-05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.4 deg	[env.py: 1082]
-05/10 08:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
-05/10 08:11:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:11:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:11:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:11:54 INFO: [Worker 0] Worker 0 house 1 episode 116/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:11:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:11:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:11:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:11:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:11:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.439s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:11:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.464[m] 94.461[deg]	[grasp_sample.py: 539]
-05/10 08:11:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:11:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:11:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:12:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:12:10 INFO: [Worker 0] Worker 0 house 1 episode 111 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:12:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:12:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:12:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:12:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:12:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:12:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:12:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:12:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:12:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:12:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:12:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:12:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:12:29 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.575s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:12:29 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.110[m] 5.922[deg]	[grasp_sample.py: 539]
-05/10 08:12:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:12:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:12:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:12:38 INFO: [Worker 0] Saved videos eagerly for episode 80 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:12:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 08:12:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:12:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:12:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:12:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:12:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:12:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:12:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.40s (batch: 3.92s, save: 10.49s)	[pipeline.py: 300]
-05/10 08:12:53 INFO: [Worker 0] [PROFILE] Episode 111 house 1 success=True episode_total=0.39s:
-  episode_total: mean=238.50s, total=238.50s, count=1, min=238498.6ms, max=238498.6ms
-  sensor_polling: mean=484.9ms, total=145.46s, count=300, min=399.3ms, max=803.8ms
-  save_trajectories: mean=10.49s, total=10.49s, count=1, min=10488.2ms, max=10488.2ms
-  physics_step: mean=23.0ms, total=6.89s, count=300, min=13.3ms, max=46.6ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3916.6ms, max=3916.6ms
-  task_sampling: mean=388.9ms, total=388.9ms, count=1, min=388.9ms, max=388.9ms
-  task_specific_sample: mean=385.5ms, total=385.5ms, count=1, min=385.5ms, max=385.5ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=362.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:12:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:12:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:12:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:12:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:12:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:12:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:12:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:12:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:12:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:12:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014987m	[env.py: 870]
-05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:12:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00358767  0.76531832  0.01498706] yaw=-157.6deg	[env.py: 1019]
-05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:12:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78208043  0.69423554  0.01498706] yaw=-158.9deg	[env.py: 1019]
-05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77467063  0.05565376  0.01498706] yaw=151.0deg	[env.py: 1019]
-05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:12:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.2ms, total=167.2ms	[env.py: 1075]
-05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.004, 0.765, 0.015)	[env.py: 1079]
-05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.6 deg	[env.py: 1082]
-05/10 08:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.754m	[env.py: 1086]
-05/10 08:12:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:12:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:12:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:12:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:12:55 INFO: [Worker 0] Worker 0 house 1 episode 112/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:12:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:12:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:12:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:12:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:12:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:12:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.314[m] 87.598[deg]	[grasp_sample.py: 539]
-05/10 08:12:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:12:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:12:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:12:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:12:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:12:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:13:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:13:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:13:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:13:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:13:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:13:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:13:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:13:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:13:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:13:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:13:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:13:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:13:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 82 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:13:09 INFO: [Worker 0] Feasibility-checked 82 grasps in 1.535s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 08:13:09 ERROR: [Worker 0] Worker 0 house 1 episode 117 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 08:13:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:13:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:13:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:13:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:13:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:13:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:13:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:13:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:13:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039863m	[env.py: 870]
-05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:13:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15689384  0.9439892  -0.03986273] yaw=-148.2deg	[env.py: 1019]
-05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81851562  0.82204951 -0.03986273] yaw=-161.9deg	[env.py: 1019]
-05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:13:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.8ms, total=199.9ms	[env.py: 1075]
-05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.157, 0.944, -0.040)	[env.py: 1079]
-05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg	[env.py: 1082]
-05/10 08:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.715m	[env.py: 1086]
-05/10 08:13:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:13:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:13:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:13:12 INFO: [Worker 0] Worker 0 house 1 episode 118/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:13:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:13:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:13:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:13:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.106s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:13:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.984s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:13:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.279[m] 78.598[deg]	[grasp_sample.py: 539]
-05/10 08:13:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:13:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:13:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:13:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:13:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:13:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:13:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:13:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:13:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:14:25 INFO: [Worker 0] Worker 0 house 1 episode 112 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:14:30 INFO: [Worker 0] Worker 0 house 1 episode 116 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:14:44 INFO: [Worker 0] Saved videos eagerly for episode 83 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:14:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 08:14:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:14:52 INFO: [Worker 0] Saved videos eagerly for episode 84 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:14:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 08:14:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:14:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:14:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:14:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.56s (batch: 4.29s, save: 8.27s)	[pipeline.py: 300]
-05/10 08:14:58 INFO: [Worker 0] [PROFILE] Episode 112 house 1 success=True episode_total=0.41s:
-  episode_total: mean=186.25s, total=186.25s, count=1, min=186252.2ms, max=186252.2ms
-  sensor_polling: mean=475.6ms, total=142.67s, count=300, min=398.7ms, max=892.2ms
-  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8274.6ms, max=8274.6ms
-  physics_step: mean=21.6ms, total=6.48s, count=300, min=16.7ms, max=89.2ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4286.7ms, max=4286.7ms
-  task_sampling: mean=407.5ms, total=407.5ms, count=1, min=407.5ms, max=407.5ms
-  task_specific_sample: mean=404.2ms, total=404.2ms, count=1, min=404.2ms, max=404.2ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=369.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:14:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:14:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:14:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:14:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:14:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:14:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:14:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:14:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:14:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028185m	[env.py: 870]
-05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:14:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90773275  0.39211094  0.02818452] yaw=162.3deg	[env.py: 1019]
-05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79794762  0.87182868  0.02818452] yaw=-148.2deg	[env.py: 1019]
-05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:14:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=241.4ms, total=241.4ms	[env.py: 1075]
-05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.908, 0.392, 0.028)	[env.py: 1079]
-05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.3 deg	[env.py: 1082]
-05/10 08:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m	[env.py: 1086]
-05/10 08:14:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:14:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:15:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:15:00 INFO: [Worker 0] Worker 0 house 1 episode 113/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:15:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:15:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:15:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:15:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:15:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.400s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:15:00 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.396[m] 95.559[deg]	[grasp_sample.py: 539]
-05/10 08:15:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:15:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:15:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:15:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:15:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:15:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.25s (batch: 3.90s, save: 8.35s)	[pipeline.py: 300]
-05/10 08:15:05 INFO: [Worker 0] [PROFILE] Episode 116 house 1 success=True episode_total=0.46s:
-  episode_total: mean=191.17s, total=191.17s, count=1, min=191170.9ms, max=191170.9ms
-  sensor_polling: mean=480.6ms, total=144.18s, count=300, min=396.8ms, max=902.0ms
-  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8352.8ms, max=8352.8ms
-  physics_step: mean=23.7ms, total=7.11s, count=300, min=13.7ms, max=84.3ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3899.0ms, max=3899.0ms
-  task_sampling: mean=455.9ms, total=455.9ms, count=1, min=455.9ms, max=455.9ms
-  task_specific_sample: mean=452.2ms, total=452.2ms, count=1, min=452.2ms, max=452.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=385.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:15:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:15:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:15:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:15:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:15:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:15:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:15:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038403m	[env.py: 870]
-05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:15:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74677357  0.63334431 -0.03840263] yaw=-176.3deg	[env.py: 1019]
-05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93554143  1.07523751 -0.03840263] yaw=-134.5deg	[env.py: 1019]
-05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99799202  0.82771896 -0.03840263] yaw=-160.2deg	[env.py: 1019]
-05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:15:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.8ms, total=135.9ms	[env.py: 1075]
-05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.633, -0.038)	[env.py: 1079]
-05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.3 deg	[env.py: 1082]
-05/10 08:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m	[env.py: 1086]
-05/10 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:15:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:15:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:15:07 INFO: [Worker 0] Worker 0 house 1 episode 117/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:15:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:15:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:15:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:15:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:15:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.486s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:15:08 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.488[m] 78.608[deg]	[grasp_sample.py: 539]
-05/10 08:15:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:15:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:15:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:15:15 INFO: [Worker 0] Worker 0 house 1 episode 112 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:15:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:15:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:15:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:15:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:15:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:15:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:15:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:15:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:15:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:15:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:15:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:15:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:15:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:15:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.468s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:15:33 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.359[deg]	[grasp_sample.py: 539]
-05/10 08:15:34 ERROR: [Worker 0] Worker 0 house 1 episode 118 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 08:15:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:15:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:15:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:15:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:15:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:15:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:15:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:15:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:15:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017362m	[env.py: 870]
-05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:15:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86397728  0.75801088 -0.0173624 ] yaw=-157.1deg	[env.py: 1019]
-05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67273947  0.72524271 -0.0173624 ] yaw=-160.4deg	[env.py: 1019]
-05/10 08:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97932385  0.47209318 -0.0173624 ] yaw=185.7deg	[env.py: 1019]
-05/10 08:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:15:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.0ms, total=186.0ms	[env.py: 1075]
-05/10 08:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.758, -0.017)	[env.py: 1079]
-05/10 08:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.1 deg	[env.py: 1082]
-05/10 08:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
-05/10 08:15:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:15:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:15:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:15:36 INFO: [Worker 0] Worker 0 house 1 episode 119/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:15:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:15:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:15:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:15:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:15:36 INFO: [Worker 0] Saved videos eagerly for episode 81 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:15:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 08:15:36 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
-05/10 08:15:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.536s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:15:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.496[m] 97.222[deg]	[grasp_sample.py: 539]
-05/10 08:15:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:15:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:15:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:15:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:15:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:15:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:15:48 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.82s (batch: 3.80s, save: 8.03s)	[pipeline.py: 300]
-05/10 08:15:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:15:49 INFO: [Worker 0] [PROFILE] Episode 112 house 1 success=True episode_total=0.42s:
-  episode_total: mean=174.33s, total=174.33s, count=1, min=174329.3ms, max=174329.3ms
-  sensor_polling: mean=460.5ms, total=130.80s, count=284, min=387.0ms, max=934.4ms
-  save_trajectories: mean=8.03s, total=8.03s, count=1, min=8026.3ms, max=8026.3ms
-  physics_step: mean=20.5ms, total=5.83s, count=284, min=13.9ms, max=39.1ms
-  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3795.9ms, max=3795.9ms
-  task_sampling: mean=418.4ms, total=418.4ms, count=1, min=418.4ms, max=418.4ms
-  task_specific_sample: mean=415.3ms, total=415.3ms, count=1, min=415.3ms, max=415.3ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=364.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:15:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:15:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:15:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:15:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:15:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:15:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:15:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:15:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:15:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005800m	[env.py: 870]
-05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:15:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 126.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93506929  0.48474254 -0.00579993] yaw=-180.9deg	[env.py: 1019]
-05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84541863  0.438248   -0.00579993] yaw=182.6deg	[env.py: 1019]
-05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08213738  1.17321185 -0.00579993] yaw=-142.3deg	[env.py: 1019]
-05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:15:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.4ms, total=117.4ms	[env.py: 1075]
-05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.485, -0.006)	[env.py: 1079]
-05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.9 deg	[env.py: 1082]
-05/10 08:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.767m	[env.py: 1086]
-05/10 08:15:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:15:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:15:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:15:51 INFO: [Worker 0] Worker 0 house 1 episode 113/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:15:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:15:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:15:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:15:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:15:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.911s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:15:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.315[m] 87.336[deg]	[grasp_sample.py: 539]
-05/10 08:15:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:15:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:15:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:15:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:15:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:16:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:16:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:16:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:16:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:16:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:16:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:16:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:16:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:16:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:16:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:16:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:16:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:16:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:16:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:16:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:16:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:16:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:16:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:16:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:16:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:16:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:16:55 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.365s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:16:55 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.190[deg]	[grasp_sample.py: 539]
-05/10 08:16:55 ERROR: [Worker 0] Worker 0 house 1 episode 113 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 08:16:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:16:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:16:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:16:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:16:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:16:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:16:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:16:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:16:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:16:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:16:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005118m	[env.py: 870]
-05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:16:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0390577   0.76167897  0.00511826] yaw=-153.5deg	[env.py: 1019]
-05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92764155  0.24201894  0.00511826] yaw=166.6deg	[env.py: 1019]
-05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:16:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=164.8ms, total=164.8ms	[env.py: 1075]
-05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.039, 0.762, 0.005)	[env.py: 1079]
-05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.5 deg	[env.py: 1082]
-05/10 08:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.720m	[env.py: 1086]
-05/10 08:16:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:16:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:16:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:16:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:16:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:16:58 INFO: [Worker 0] Worker 0 house 1 episode 114/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:16:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:16:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:16:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:16:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:16:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.488s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:16:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.330[m] 92.388[deg]	[grasp_sample.py: 539]
-05/10 08:16:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:16:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:16:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:17:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:17:35 INFO: [Worker 0] Worker 0 house 1 episode 117 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:17:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:17:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:17:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:17:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:17:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:17:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:17:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:17:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:17:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:17:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:17:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:17:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:17:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:17:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:17:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:17:48 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.410s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:17:48 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.523[deg]	[grasp_sample.py: 539]
-05/10 08:17:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:17:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:17:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:17:57 INFO: [Worker 0] Saved videos eagerly for episode 85 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:17:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 08:17:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:18:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:18:02 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:18:02 INFO: [Worker 0] [PROFILE] Episode 117 house 1 success=True episode_total=0.40s:
-  episode_total: mean=175.61s, total=175.61s, count=1, min=175615.0ms, max=175615.0ms
-  sensor_polling: mean=456.6ms, total=136.97s, count=300, min=395.6ms, max=815.5ms
-  physics_step: mean=22.5ms, total=6.75s, count=300, min=14.2ms, max=53.0ms
-  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4879.6ms, max=4879.6ms
-  task_sampling: mean=403.3ms, total=403.3ms, count=1, min=403.3ms, max=403.3ms
-  task_specific_sample: mean=400.2ms, total=400.2ms, count=1, min=400.2ms, max=400.2ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=383.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:18:04 INFO: [Worker 0] Worker 0 house 1 episode 119 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:18:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:18:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:18:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:18:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:18:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:18:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:18:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:18:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:18:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026659m	[env.py: 870]
-05/10 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:18:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01924666  0.75587855  0.0266595 ] yaw=-164.4deg	[env.py: 1019]
-05/10 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87686153  0.62453338  0.0266595 ] yaw=-173.2deg	[env.py: 1019]
-05/10 08:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82385955  0.78369229  0.0266595 ] yaw=-151.5deg	[env.py: 1019]
-05/10 08:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:18:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.7ms, total=178.7ms	[env.py: 1075]
-05/10 08:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.019, 0.756, 0.027)	[env.py: 1079]
-05/10 08:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.4 deg	[env.py: 1082]
-05/10 08:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.736m	[env.py: 1086]
-05/10 08:18:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:18:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:18:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:18:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:18:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:18:05 INFO: [Worker 0] Worker 0 house 1 episode 118/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:18:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:18:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:18:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:18:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:18:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.479s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:18:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.317[m] 94.828[deg]	[grasp_sample.py: 539]
-05/10 08:18:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:18:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:18:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:18:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:18:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:18:26 INFO: [Worker 0] Saved videos eagerly for episode 76 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:18:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 08:18:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:18:30 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:18:30 INFO: [Worker 0] [PROFILE] Episode 119 house 1 success=True episode_total=1.52s:
-  episode_total: mean=162.92s, total=488.75s, count=3, min=142531.5ms, max=174888.4ms
-  sensor_polling: mean=461.6ms, total=390.07s, count=845, min=385.5ms, max=920.2ms
-  physics_step: mean=21.2ms, total=17.92s, count=845, min=13.5ms, max=57.1ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4280.6ms, max=4280.6ms
-  task_sampling: mean=505.4ms, total=1.52s, count=3, min=449.6ms, max=606.6ms
-  task_specific_sample: mean=501.4ms, total=1.50s, count=3, min=446.3ms, max=603.4ms
-  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.5ms, max=2.0ms
-  mj_forward_sync: mean=533.2us, total=1.6ms, count=3, min=0.4ms, max=0.7ms
-  policy_setup: mean=17.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:18:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:18:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:18:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:18:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:18:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:18:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:18:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:18:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:18:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041094m	[env.py: 870]
-05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:18:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01216011  1.118026    0.04109379] yaw=-145.2deg	[env.py: 1019]
-05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06971993  1.01577038  0.04109379] yaw=-149.7deg	[env.py: 1019]
-05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80924712  0.50172634  0.04109379] yaw=-182.0deg	[env.py: 1019]
-05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:18:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.1ms, total=80.2ms	[env.py: 1075]
-05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.012, 1.118, 0.041)	[env.py: 1079]
-05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.2 deg	[env.py: 1082]
-05/10 08:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
-05/10 08:18:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:18:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:18:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:18:32 INFO: [Worker 0] Worker 0 house 1 episode 120/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:18:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:18:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:18:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:18:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:18:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.552s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:18:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.527[m] 86.148[deg]	[grasp_sample.py: 539]
-05/10 08:18:35 ERROR: [Worker 0] Worker 0 house 1 episode 120 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 08:18:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:18:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:18:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:18:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:18:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:18:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:18:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:18:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:18:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:18:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:18:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:18:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017093m	[env.py: 870]
-05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:18:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85303419  0.24575981  0.01709283] yaw=161.3deg	[env.py: 1019]
-05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69958571  0.49280196  0.01709283] yaw=-169.9deg	[env.py: 1019]
-05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8105329   0.38984811  0.01709283] yaw=172.7deg	[env.py: 1019]
-05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:18:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.2ms, total=173.3ms	[env.py: 1075]
-05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.246, 0.017)	[env.py: 1079]
-05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.3 deg	[env.py: 1082]
-05/10 08:18:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
-05/10 08:18:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:18:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:18:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:18:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:18:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:18:37 INFO: [Worker 0] Worker 0 house 1 episode 121/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:18:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:18:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:18:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:18:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:18:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.517s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:18:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.450[m] 96.008[deg]	[grasp_sample.py: 539]
-05/10 08:18:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:18:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:18:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:18:46 INFO: [Worker 0] Worker 0 house 1 episode 113 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:18:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:18:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:19:09 INFO: [Worker 0] Saved videos eagerly for episode 82 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:19:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 08:19:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:19:14 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:19:14 INFO: [Worker 0] [PROFILE] Episode 113 house 1 success=True episode_total=0.42s:
-  episode_total: mean=204.01s, total=204.01s, count=1, min=204009.9ms, max=204009.9ms
-  sensor_polling: mean=475.3ms, total=142.58s, count=300, min=406.4ms, max=750.0ms
-  physics_step: mean=21.6ms, total=6.49s, count=300, min=15.4ms, max=72.0ms
-  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4818.6ms, max=4818.6ms
-  task_sampling: mean=422.7ms, total=422.7ms, count=1, min=422.7ms, max=422.7ms
-  task_specific_sample: mean=419.3ms, total=419.3ms, count=1, min=419.3ms, max=419.3ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=375.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:19:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:19:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:19:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:19:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:19:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:19:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:19:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:19:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:19:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048565m	[env.py: 870]
-05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:19:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79195449  0.8053161  -0.04856538] yaw=-156.5deg	[env.py: 1019]
-05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71201237  0.6947503  -0.04856538] yaw=-162.6deg	[env.py: 1019]
-05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92463689  1.0306621  -0.04856538] yaw=-146.9deg	[env.py: 1019]
-05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:19:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.2ms, total=142.2ms	[env.py: 1075]
-05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.792, 0.805, -0.049)	[env.py: 1079]
-05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg	[env.py: 1082]
-05/10 08:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
-05/10 08:19:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:19:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:19:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:19:17 INFO: [Worker 0] Worker 0 house 1 episode 114/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:19:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:19:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:19:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:19:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:19:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.641s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:19:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.518[m] 87.544[deg]	[grasp_sample.py: 539]
-05/10 08:19:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:19:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:19:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:19:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:19:30 INFO: [Worker 0] Worker 0 house 1 episode 114 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:19:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:19:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:19:51 INFO: [Worker 0] Saved videos eagerly for episode 84 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:19:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 08:19:51 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
-05/10 08:19:56 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:19:56 INFO: [Worker 0] [PROFILE] Episode 114 house 1 success=True episode_total=0.97s:
-  episode_total: mean=147.51s, total=295.01s, count=2, min=116432.4ms, max=178577.9ms
-  sensor_polling: mean=479.7ms, total=236.48s, count=493, min=405.1ms, max=838.4ms
-  physics_step: mean=22.7ms, total=11.20s, count=493, min=16.4ms, max=102.0ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4396.7ms, max=4396.7ms
-  task_sampling: mean=484.5ms, total=969.0ms, count=2, min=472.1ms, max=496.9ms
-  task_specific_sample: mean=481.4ms, total=962.8ms, count=2, min=469.3ms, max=493.5ms
-  scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.2ms, max=2.0ms
-  mj_forward_sync: mean=412.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:19:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:19:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:19:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:19:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:19:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:19:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:19:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:19:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:19:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:19:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:19:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001882m	[env.py: 870]
-05/10 08:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:19:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:19:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.2ms, total=195.2ms	[env.py: 1105]
-05/10 08:19:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 08:19:58 ERROR: [Worker 0] Worker 0 house 1 episode 115 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 08:19:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:19:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:19:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:19:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:19:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:19:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:19:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:19:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:19:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.016920m	[env.py: 870]
-05/10 08:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:19:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.839755    0.29926419 -0.01692045] yaw=161.6deg	[env.py: 1019]
-05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97667157  0.67734007 -0.01692045] yaw=-173.6deg	[env.py: 1019]
-05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.12399918  0.91511723 -0.01692045] yaw=-154.4deg	[env.py: 1019]
-05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:20:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.2ms, total=222.2ms	[env.py: 1075]
-05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.299, -0.017)	[env.py: 1079]
-05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.6 deg	[env.py: 1082]
-05/10 08:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
-05/10 08:20:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:20:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:20:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:20:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:20:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:20:00 INFO: [Worker 0] Worker 0 house 1 episode 116/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:20:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:20:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:20:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:20:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:20:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.592s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:20:01 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.457[m] 95.518[deg]	[grasp_sample.py: 539]
-05/10 08:20:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:20:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:20:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:20:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:20:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:20:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:20:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:20:44 INFO: [Worker 0] Worker 0 house 1 episode 118 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:20:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:20:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:20:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:20:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:20:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:20:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:20:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:21:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:21:08 INFO: [Worker 0] Saved videos eagerly for episode 86 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:21:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 08:21:08 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
-05/10 08:21:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:21:13 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:21:13 INFO: [Worker 0] [PROFILE] Episode 118 house 1 success=True episode_total=0.49s:
-  episode_total: mean=188.61s, total=188.61s, count=1, min=188606.3ms, max=188606.3ms
-  sensor_polling: mean=520.8ms, total=148.42s, count=285, min=447.9ms, max=903.0ms
-  physics_step: mean=24.5ms, total=6.97s, count=285, min=20.3ms, max=63.3ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4517.1ms, max=4517.1ms
-  task_sampling: mean=486.4ms, total=486.4ms, count=1, min=486.4ms, max=486.4ms
-  task_specific_sample: mean=482.1ms, total=482.1ms, count=1, min=482.1ms, max=482.1ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=548.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:21:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:21:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:21:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:21:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:21:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:21:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:21:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:21:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:21:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036708m	[env.py: 870]
-05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:21:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99413717  0.41222175  0.03670827] yaw=185.6deg	[env.py: 1019]
-05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96003379  1.03558381  0.03670827] yaw=-137.3deg	[env.py: 1019]
-05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:21:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.1ms, total=203.1ms	[env.py: 1075]
-05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.994, 0.412, 0.037)	[env.py: 1079]
-05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.6 deg	[env.py: 1082]
-05/10 08:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.712m	[env.py: 1086]
-05/10 08:21:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:21:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:21:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:21:15 INFO: [Worker 0] Worker 0 house 1 episode 119/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:21:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:21:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:21:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:21:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:21:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.752s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:21:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.300[m] 89.550[deg]	[grasp_sample.py: 539]
-05/10 08:21:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:21:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:21:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:21:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:21:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:21:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:21:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:21:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:21:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:21:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:21:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:21:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:21:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:21:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:21:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:21:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 70 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:21:33 INFO: [Worker 0] Feasibility-checked 70 grasps in 0.472s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:21:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.052[m] 13.375[deg]	[grasp_sample.py: 539]
-05/10 08:21:35 ERROR: [Worker 0] Worker 0 house 1 episode 121 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 08:21:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:21:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:21:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:21:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:21:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:21:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:21:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:21:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:21:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:21:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:21:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048906m	[env.py: 870]
-05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:21:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.17751934  1.13857667 -0.04890631] yaw=-128.0deg	[env.py: 1019]
-05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95938469  0.33892668 -0.04890631] yaw=176.0deg	[env.py: 1019]
-05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:21:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=497.6ms, total=497.6ms	[env.py: 1075]
-05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.178, 1.139, -0.049)	[env.py: 1079]
-05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.0 deg	[env.py: 1082]
-05/10 08:21:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
-05/10 08:21:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:21:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:21:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:21:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:21:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:21:37 INFO: [Worker 0] Worker 0 house 1 episode 122/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:21:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:21:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:21:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:21:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:21:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:21:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.417[m] 91.819[deg]	[grasp_sample.py: 539]
-05/10 08:21:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:21:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:21:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:21:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:22:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:22:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:22:12 INFO: [Worker 0] Worker 0 house 1 episode 114 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:22:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:22:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:36 INFO: [Worker 0] Saved videos eagerly for episode 83 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:22:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 08:22:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:22:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:22:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:41 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:22:41 INFO: [Worker 0] [PROFILE] Episode 114 house 1 success=True episode_total=0.46s:
-  episode_total: mean=204.47s, total=204.47s, count=1, min=204473.0ms, max=204473.0ms
-  sensor_polling: mean=540.3ms, total=162.08s, count=300, min=472.7ms, max=926.6ms
-  physics_step: mean=26.4ms, total=7.93s, count=300, min=16.0ms, max=111.1ms
-  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4512.6ms, max=4512.6ms
-  task_sampling: mean=456.2ms, total=456.2ms, count=1, min=456.2ms, max=456.2ms
-  task_specific_sample: mean=452.1ms, total=452.1ms, count=1, min=452.1ms, max=452.1ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=459.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:22:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:22:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:22:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:22:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:22:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:22:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:22:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:22:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:22:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:22:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013132m	[env.py: 870]
-05/10 08:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:22:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06367373  1.06590049 -0.01313198] yaw=-142.7deg	[env.py: 1019]
-05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06311191  0.95828852 -0.01313198] yaw=-142.0deg	[env.py: 1019]
-05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92104592  0.87100083 -0.01313198] yaw=-147.0deg	[env.py: 1019]
-05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:22:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=282.1ms, total=282.1ms	[env.py: 1075]
-05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.064, 1.066, -0.013)	[env.py: 1079]
-05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.7 deg	[env.py: 1082]
-05/10 08:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
-05/10 08:22:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:22:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:22:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:22:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:22:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:22:43 INFO: [Worker 0] Worker 0 house 1 episode 115/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:22:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:22:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:22:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:22:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:22:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.581s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:22:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.432[m] 85.882[deg]	[grasp_sample.py: 539]
-05/10 08:22:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:22:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:22:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:22:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:22:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:22:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:22:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:22:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:22:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:46 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.593s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:22:46 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.487[deg]	[grasp_sample.py: 539]
-05/10 08:22:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:22:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:22:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:22:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:22:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:22:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:22:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:22:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:22:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:49 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.423s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:22:49 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.100[deg]	[grasp_sample.py: 539]
-05/10 08:22:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:22:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:22:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:22:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:22:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:22:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:23:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:23:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:23:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:23:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:23:00 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.414s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:23:00 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.100[m] 0.452[deg]	[grasp_sample.py: 539]
-05/10 08:23:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:23:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:23:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:23:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:23:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:07 INFO: [Worker 0] Worker 0 house 1 episode 116 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:23:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:23:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:23:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:23:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:23:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:23:14 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.394s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:23:14 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.100[m] 0.452[deg]	[grasp_sample.py: 539]
-05/10 08:23:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:23:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:23:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:23:27 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 08:23:28 INFO: [Worker 0] Worker 0 house 1 episode 119 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 08:23:28 INFO: [Worker 0] [PROFILE] Episode 119 house 1 success=False episode_total=0.58s:
-  episode_total: mean=132.76s, total=132.76s, count=1, min=132764.3ms, max=132764.3ms
-  sensor_polling: mean=551.0ms, total=88.16s, count=160, min=484.4ms, max=913.9ms
-  physics_step: mean=24.6ms, total=3.93s, count=160, min=14.3ms, max=69.5ms
-  task_sampling: mean=581.4ms, total=581.4ms, count=1, min=581.4ms, max=581.4ms
-  task_specific_sample: mean=576.2ms, total=576.2ms, count=1, min=576.2ms, max=576.2ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=628.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:23:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:23:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:23:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:23:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:23:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:23:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:23:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:23:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:23:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:23:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:23:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006486m	[env.py: 870]
-05/10 08:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:23:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83284641  0.93563492  0.00648628] yaw=-151.8deg	[env.py: 1019]
-05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98225377  0.42356502  0.00648628] yaw=179.0deg	[env.py: 1019]
-05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02074544  1.04713222  0.00648628] yaw=-145.8deg	[env.py: 1019]
-05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:23:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=359.8ms, total=359.8ms	[env.py: 1075]
-05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.936, 0.006)	[env.py: 1079]
-05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.8 deg	[env.py: 1082]
-05/10 08:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
-05/10 08:23:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:23:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:23:30 INFO: [Worker 0] Saved videos eagerly for episode 85 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:23:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 08:23:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:23:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:23:30 INFO: [Worker 0] Worker 0 house 1 episode 120/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:23:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:23:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:23:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:23:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:23:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.736s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:23:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.541[m] 88.034[deg]	[grasp_sample.py: 539]
-05/10 08:23:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:23:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:23:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:23:35 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:23:35 INFO: [Worker 0] [PROFILE] Episode 116 house 1 success=True episode_total=0.53s:
-  episode_total: mean=107.66s, total=215.32s, count=2, min=205.9ms, max=215113.7ms
-  sensor_polling: mean=545.4ms, total=163.63s, count=300, min=484.2ms, max=909.4ms
-  physics_step: mean=25.9ms, total=7.76s, count=300, min=17.0ms, max=87.8ms
-  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4493.6ms, max=4493.6ms
-  task_specific_sample: mean=361.3ms, total=722.6ms, count=2, min=200.7ms, max=521.9ms
-  task_sampling: mean=525.4ms, total=525.4ms, count=1, min=525.4ms, max=525.4ms
-  task_sampling_failed: mean=205.8ms, total=205.8ms, count=1, min=205.8ms, max=205.8ms
-  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.5ms, max=2.4ms
-  mj_forward_sync: mean=497.1us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=31.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:23:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:23:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:23:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:23:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:23:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:23:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:23:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:23:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:23:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:23:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:23:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023267m	[env.py: 870]
-05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:23:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98292388  0.38188135  0.02326662] yaw=162.4deg	[env.py: 1019]
-05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74114537  0.00918878  0.02326662] yaw=164.5deg	[env.py: 1019]
-05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94562785  0.40990418  0.02326662] yaw=175.9deg	[env.py: 1019]
-05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:23:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.1ms, total=146.1ms	[env.py: 1075]
-05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.983, 0.382, 0.023)	[env.py: 1079]
-05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.4 deg	[env.py: 1082]
-05/10 08:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.726m	[env.py: 1086]
-05/10 08:23:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:23:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:23:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:23:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:23:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:23:37 INFO: [Worker 0] Worker 0 house 1 episode 117/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:23:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:23:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:23:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:23:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:23:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:23:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.522s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:23:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.280[m] 90.323[deg]	[grasp_sample.py: 539]
-05/10 08:23:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:23:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:23:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:23:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:23:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:23:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:23:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:23:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:23:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:23:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:23:59 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.768s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:23:59 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.846[deg]	[grasp_sample.py: 539]
-05/10 08:23:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:23:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:23:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:24:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:24:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:24:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:24:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:24:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:24:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:24:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:24:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:24:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:24:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:24:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:24:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:24:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:24:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:24:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:24:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:24:43 INFO: [Worker 0] Worker 0 house 1 episode 122 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:24:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:24:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:24:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:24:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:24:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:25:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:25:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:25:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:25:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:25:04 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.440s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:25:04 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.522[deg]	[grasp_sample.py: 539]
-05/10 08:25:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:25:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:25:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:25:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:25:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:25:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:25:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:25:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:25:07 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.401s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:25:07 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.510[deg]	[grasp_sample.py: 539]
-05/10 08:25:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:25:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:25:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:25:09 INFO: [Worker 0] Saved videos eagerly for episode 77 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:25:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 08:25:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:25:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:13 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:25:14 INFO: [Worker 0] [PROFILE] Episode 122 house 1 success=True episode_total=1.62s:
-  episode_total: mean=132.63s, total=397.90s, count=3, min=3105.8ms, max=216985.1ms
-  sensor_polling: mean=521.6ms, total=286.38s, count=549, min=457.6ms, max=893.3ms
-  physics_step: mean=24.5ms, total=13.47s, count=549, min=17.6ms, max=72.4ms
-  save_batch_prep: mean=4.85s, total=4.85s, count=1, min=4850.1ms, max=4850.1ms
-  task_sampling: mean=538.5ms, total=1.62s, count=3, min=367.9ms, max=807.1ms
-  task_specific_sample: mean=535.1ms, total=1.61s, count=3, min=364.2ms, max=804.0ms
-  scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.5ms, max=2.3ms
-  mj_forward_sync: mean=480.1us, total=1.4ms, count=3, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:25:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:25:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:25:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:25:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:25:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:25:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:25:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036854m	[env.py: 870]
-05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:25:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 123.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83644964  0.42037954  0.03685378] yaw=180.8deg	[env.py: 1019]
-05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.17027121  0.95696065  0.03685378] yaw=-140.6deg	[env.py: 1019]
-05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:25:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=265.1ms, total=265.1ms	[env.py: 1075]
-05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.836, 0.420, 0.037)	[env.py: 1079]
-05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.8 deg	[env.py: 1082]
-05/10 08:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
-05/10 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:25:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:25:17 INFO: [Worker 0] Worker 0 house 1 episode 123/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:25:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:25:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:25:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:25:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:25:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.709s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:25:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.400[m] 82.315[deg]	[grasp_sample.py: 539]
-05/10 08:25:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:25:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:25:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:25:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:25:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:25:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:25:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:25:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:25:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:25 INFO: [Worker 0] Feasibility-checked 76 grasps in 4.138s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:25:25 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.053[m] 10.058[deg]	[grasp_sample.py: 539]
-05/10 08:25:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:25:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:25:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:25:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:25:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:25:26 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.423s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:25:26 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.506[deg]	[grasp_sample.py: 539]
-05/10 08:25:27 ERROR: [Worker 0] Worker 0 house 1 episode 115 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 08:25:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:25:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:25:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:25:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:25:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:25:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:25:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:25:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:25:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:25:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:25:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:25:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:25:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:25:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017260m	[env.py: 870]
-05/10 08:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:25:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76437469  0.74141855 -0.01726041] yaw=-171.3deg	[env.py: 1019]
-05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:25:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=506.6ms, total=506.6ms	[env.py: 1075]
-05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.764, 0.741, -0.017)	[env.py: 1079]
-05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.3 deg	[env.py: 1082]
-05/10 08:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
-05/10 08:25:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:25:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:25:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:25:29 INFO: [Worker 0] Worker 0 house 1 episode 116/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:25:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:25:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:25:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:25:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:25:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:25:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.537[m] 90.675[deg]	[grasp_sample.py: 539]
-05/10 08:25:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:25:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:25:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:25:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:25:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:25:41 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 08:25:42 INFO: [Worker 0] Worker 0 house 1 episode 117 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 08:25:42 INFO: [Worker 0] [PROFILE] Episode 117 house 1 success=False episode_total=0.49s:
-  episode_total: mean=125.38s, total=125.38s, count=1, min=125383.7ms, max=125383.7ms
-  sensor_polling: mean=529.2ms, total=81.49s, count=154, min=482.2ms, max=842.8ms
-  physics_step: mean=25.2ms, total=3.89s, count=154, min=14.2ms, max=139.7ms
-  task_sampling: mean=486.6ms, total=486.6ms, count=1, min=486.6ms, max=486.6ms
-  task_specific_sample: mean=482.6ms, total=482.6ms, count=1, min=482.6ms, max=482.6ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=442.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:25:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:25:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:25:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:25:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:25:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:25:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:25:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:25:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:25:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:25:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:25:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038751m	[env.py: 870]
-05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:25:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74842706  0.63688242  0.03875087] yaw=-180.2deg	[env.py: 1019]
-05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95887483  0.97396371  0.03875087] yaw=-142.2deg	[env.py: 1019]
-05/10 08:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81161713  0.50239705  0.03875087] yaw=-189.1deg	[env.py: 1019]
-05/10 08:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:25:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=696.8ms, total=696.8ms	[env.py: 1075]
-05/10 08:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.748, 0.637, 0.039)	[env.py: 1079]
-05/10 08:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.2 deg	[env.py: 1082]
-05/10 08:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
-05/10 08:25:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:25:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:25:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:25:45 INFO: [Worker 0] Worker 0 house 1 episode 118/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:25:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:25:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:25:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:25:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:25:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.974s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:25:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.522[m] 87.809[deg]	[grasp_sample.py: 539]
-05/10 08:25:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:25:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:25:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:26:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:26:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:26:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:26:20 INFO: [Worker 0] Worker 0 house 1 episode 120 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:26:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:26:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:26:45 INFO: [Worker 0] Saved videos eagerly for episode 87 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:26:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 08:26:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:26:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:26:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:26:50 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:26:50 INFO: [Worker 0] [PROFILE] Episode 120 house 1 success=True episode_total=0.83s:
-  episode_total: mean=200.72s, total=200.72s, count=1, min=200717.7ms, max=200717.7ms
-  sensor_polling: mean=522.5ms, total=156.76s, count=300, min=453.5ms, max=920.2ms
-  physics_step: mean=25.8ms, total=7.74s, count=300, min=16.8ms, max=108.7ms
-  save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4835.8ms, max=4835.8ms
-  task_sampling: mean=826.0ms, total=826.0ms, count=1, min=826.0ms, max=826.0ms
-  task_specific_sample: mean=821.6ms, total=821.6ms, count=1, min=821.6ms, max=821.6ms
-  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
-  mj_forward_sync: mean=502.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:26:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:26:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:26:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:26:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:26:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:26:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:26:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007038m	[env.py: 870]
-05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:26:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13788061  0.94219935  0.00703791] yaw=-134.7deg	[env.py: 1019]
-05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92153458  0.49730363  0.00703791] yaw=-175.5deg	[env.py: 1019]
-05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.19188734  0.99250779  0.00703791] yaw=-137.9deg	[env.py: 1019]
-05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:26:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.5ms, total=259.6ms	[env.py: 1075]
-05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.138, 0.942, 0.007)	[env.py: 1079]
-05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.7 deg	[env.py: 1082]
-05/10 08:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.728m	[env.py: 1086]
-05/10 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:26:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:26:52 INFO: [Worker 0] Worker 0 house 1 episode 121/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:26:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:26:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:26:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:26:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:26:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.527s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:26:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.311[m] 90.625[deg]	[grasp_sample.py: 539]
-05/10 08:26:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:26:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:26:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:26:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:27:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:27:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:27:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:27:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:28:04 INFO: [Worker 0] Worker 0 house 1 episode 123 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:28:19 INFO: [Worker 0] Worker 0 house 1 episode 116 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:28:28 INFO: [Worker 0] Saved videos eagerly for episode 78 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:28:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 08:28:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:28:32 INFO: [Worker 0] Worker 0 house 1 episode 118 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:28:32 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:28:32 INFO: [Worker 0] [PROFILE] Episode 123 house 1 success=True episode_total=0.71s:
-  episode_total: mean=196.41s, total=196.41s, count=1, min=196410.6ms, max=196410.6ms
-  sensor_polling: mean=516.4ms, total=154.91s, count=300, min=471.5ms, max=971.9ms
-  physics_step: mean=26.4ms, total=7.93s, count=300, min=16.2ms, max=99.7ms
-  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4539.6ms, max=4539.6ms
-  task_sampling: mean=713.9ms, total=713.9ms, count=1, min=713.9ms, max=713.9ms
-  task_specific_sample: mean=708.8ms, total=708.8ms, count=1, min=708.8ms, max=708.8ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=761.7us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
-  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:28:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:28:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:28:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:28:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:28:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:28:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:28:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:28:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:28:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:28:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:28:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034670m	[env.py: 870]
-05/10 08:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:28:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87029173  0.12530936  0.03466973] yaw=166.6deg	[env.py: 1019]
-05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80896169  0.05570355  0.03466973] yaw=147.2deg	[env.py: 1019]
-05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.72265203  0.39453783  0.03466973] yaw=170.9deg	[env.py: 1019]
-05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:28:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=256.9ms, total=257.0ms	[env.py: 1075]
-05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.125, 0.035)	[env.py: 1079]
-05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.6 deg	[env.py: 1082]
-05/10 08:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m	[env.py: 1086]
-05/10 08:28:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:28:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:28:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:28:35 INFO: [Worker 0] Worker 0 house 1 episode 124/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:28:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:28:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:28:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:28:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:28:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.630s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:28:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.513[m] 104.241[deg]	[grasp_sample.py: 539]
-05/10 08:28:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:28:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:28:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:28:43 INFO: [Worker 0] Saved videos eagerly for episode 84 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:28:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 08:28:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:28:48 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:28:48 INFO: [Worker 0] [PROFILE] Episode 116 house 1 success=True episode_total=1.43s:
-  episode_total: mean=181.92s, total=363.85s, count=2, min=164085.0ms, max=199762.2ms
-  sensor_polling: mean=518.9ms, total=294.20s, count=567, min=466.0ms, max=1002.1ms
-  physics_step: mean=24.4ms, total=13.82s, count=567, min=17.5ms, max=110.0ms
-  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5026.5ms, max=5026.5ms
-  task_sampling: mean=715.9ms, total=1.43s, count=2, min=610.4ms, max=821.5ms
-  task_specific_sample: mean=712.0ms, total=1.42s, count=2, min=606.8ms, max=817.2ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=2.1ms, max=2.2ms
-  mj_forward_sync: mean=454.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:28:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:28:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:28:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:28:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:28:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:28:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:28:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:28:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:28:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041330m	[env.py: 870]
-05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:28:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68092912  0.81861869 -0.04133034] yaw=-165.2deg	[env.py: 1019]
-05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79984945  0.32191558 -0.04133034] yaw=176.2deg	[env.py: 1019]
-05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84221971  0.16164369 -0.04133034] yaw=170.4deg	[env.py: 1019]
-05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:28:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.3ms, total=157.3ms	[env.py: 1075]
-05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.681, 0.819, -0.041)	[env.py: 1079]
-05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.2 deg	[env.py: 1082]
-05/10 08:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m	[env.py: 1086]
-05/10 08:28:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:28:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:28:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:28:50 INFO: [Worker 0] Worker 0 house 1 episode 117/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:28:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:28:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:28:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:28:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:28:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.632s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:28:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.690[m] 95.679[deg]	[grasp_sample.py: 539]
-05/10 08:28:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:28:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:28:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:28:55 INFO: [Worker 0] Saved videos eagerly for episode 86 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:28:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 08:28:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:28:59 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:28:59 INFO: [Worker 0] [PROFILE] Episode 118 house 1 success=True episode_total=1.00s:
-  episode_total: mean=195.42s, total=195.42s, count=1, min=195417.1ms, max=195417.1ms
-  sensor_polling: mean=516.5ms, total=154.96s, count=300, min=470.6ms, max=957.0ms
-  physics_step: mean=26.2ms, total=7.87s, count=300, min=19.5ms, max=62.4ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4337.3ms, max=4337.3ms
-  task_sampling: mean=996.1ms, total=996.1ms, count=1, min=996.1ms, max=996.1ms
-  task_specific_sample: mean=992.0ms, total=992.0ms, count=1, min=992.0ms, max=992.0ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=531.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:29:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:29:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:29:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:29:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:29:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:29:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:29:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:29:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:29:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026371m	[env.py: 870]
-05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:29:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97237059  0.97376724  0.02637085] yaw=-150.5deg	[env.py: 1019]
-05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90142267  0.2216012   0.02637085] yaw=172.4deg	[env.py: 1019]
-05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79274007  0.00155895  0.02637085] yaw=161.1deg	[env.py: 1019]
-05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:29:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=288.6ms, total=288.6ms	[env.py: 1075]
-05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.974, 0.026)	[env.py: 1079]
-05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg	[env.py: 1082]
-05/10 08:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
-05/10 08:29:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:29:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:29:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:29:02 INFO: [Worker 0] Worker 0 house 1 episode 119/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:29:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:29:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:29:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:29:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:29:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.580s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:29:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.471[m] 94.693[deg]	[grasp_sample.py: 539]
-05/10 08:29:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:29:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:29:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:29:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:29:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:29:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:29:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:29:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:29:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:29:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:29:36 INFO: [Worker 0] Worker 0 house 1 episode 121 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:29:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:29:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:29:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:30:01 INFO: [Worker 0] Saved videos eagerly for episode 88 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:30:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 08:30:01 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
-05/10 08:30:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:30:06 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:30:06 INFO: [Worker 0] [PROFILE] Episode 121 house 1 success=True episode_total=0.59s:
-  episode_total: mean=194.09s, total=194.09s, count=1, min=194088.2ms, max=194088.2ms
-  sensor_polling: mean=514.1ms, total=145.99s, count=284, min=466.0ms, max=848.7ms
-  physics_step: mean=24.7ms, total=7.02s, count=284, min=17.3ms, max=48.9ms
-  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4641.7ms, max=4641.7ms
-  task_sampling: mean=585.6ms, total=585.6ms, count=1, min=585.6ms, max=585.6ms
-  task_specific_sample: mean=581.4ms, total=581.4ms, count=1, min=581.4ms, max=581.4ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=453.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:30:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:30:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:30:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:30:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:30:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:30:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:30:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:30:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:30:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003729m	[env.py: 870]
-05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:30:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89988259  0.57618367  0.00372939] yaw=-167.6deg	[env.py: 1019]
-05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98183999  0.54198834  0.00372939] yaw=-176.6deg	[env.py: 1019]
-05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82440876  0.54710473  0.00372939] yaw=-180.2deg	[env.py: 1019]
-05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:30:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=301.6ms, total=301.6ms	[env.py: 1075]
-05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.576, 0.004)	[env.py: 1079]
-05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.6 deg	[env.py: 1082]
-05/10 08:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
-05/10 08:30:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:30:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:30:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:30:08 INFO: [Worker 0] Worker 0 house 1 episode 122/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:30:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:30:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:30:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:30:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:30:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.542s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:30:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.374[m] 90.503[deg]	[grasp_sample.py: 539]
-05/10 08:30:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:30:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:30:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:30:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:30:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:30:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:30:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:30:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:31:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:31:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:31:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:31:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:31:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:31:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:31:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:31:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:31:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:31:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:31:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:31:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:31:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:31:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:31:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:31:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:31:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:31:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:31:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:31:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:31:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:31:33 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.423s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:31:33 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.712[deg]	[grasp_sample.py: 539]
-05/10 08:31:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:31:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:31:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:31:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:31:41 INFO: [Worker 0] Worker 0 house 1 episode 117 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:31:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:31:51 INFO: [Worker 0] Worker 0 house 1 episode 119 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:31:51 INFO: [Worker 0] Worker 0 house 1 episode 124 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:32:04 INFO: [Worker 0] Saved videos eagerly for episode 85 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:32:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 08:32:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:32:09 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:32:09 INFO: [Worker 0] [PROFILE] Episode 117 house 1 success=True episode_total=0.47s:
-  episode_total: mean=199.21s, total=199.21s, count=1, min=199211.5ms, max=199211.5ms
-  sensor_polling: mean=526.2ms, total=157.85s, count=300, min=458.6ms, max=1021.6ms
-  physics_step: mean=25.5ms, total=7.64s, count=300, min=16.4ms, max=115.9ms
-  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4627.6ms, max=4627.6ms
-  task_sampling: mean=470.4ms, total=470.4ms, count=1, min=470.4ms, max=470.4ms
-  task_specific_sample: mean=466.0ms, total=466.0ms, count=1, min=466.0ms, max=466.0ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=489.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:32:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:32:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:32:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:32:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:32:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:32:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:32:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031244m	[env.py: 870]
-05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:32:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97416424  1.01483523 -0.03124442] yaw=-150.5deg	[env.py: 1019]
-05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85200032  1.00875264 -0.03124442] yaw=-157.0deg	[env.py: 1019]
-05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98531501  1.20279075 -0.03124442] yaw=-125.2deg	[env.py: 1019]
-05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:32:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=277.7ms, total=277.8ms	[env.py: 1075]
-05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.974, 1.015, -0.031)	[env.py: 1079]
-05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg	[env.py: 1082]
-05/10 08:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
-05/10 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:32:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:32:11 INFO: [Worker 0] Worker 0 house 1 episode 118/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:32:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:32:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:32:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:32:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:32:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.555s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:32:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.451[m] 82.264[deg]	[grasp_sample.py: 539]
-05/10 08:32:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:32:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:32:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:32:13 INFO: [Worker 0] Saved videos eagerly for episode 87 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:32:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 08:32:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:32:15 INFO: [Worker 0] Saved videos eagerly for episode 79 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:32:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 08:32:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:32:17 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:32:17 INFO: [Worker 0] [PROFILE] Episode 119 house 1 success=True episode_total=0.63s:
-  episode_total: mean=196.14s, total=196.14s, count=1, min=196137.9ms, max=196137.9ms
-  sensor_polling: mean=524.6ms, total=157.39s, count=300, min=456.3ms, max=859.7ms
-  physics_step: mean=25.9ms, total=7.78s, count=300, min=17.1ms, max=122.8ms
-  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4134.5ms, max=4134.5ms
-  task_sampling: mean=633.7ms, total=633.7ms, count=1, min=633.7ms, max=633.7ms
-  task_specific_sample: mean=630.1ms, total=630.1ms, count=1, min=630.1ms, max=630.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=472.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:32:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:32:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:32:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:32:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:32:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:32:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:32:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:32:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:32:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004444m	[env.py: 870]
-05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:32:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77729781  0.36365843  0.00444376] yaw=183.7deg	[env.py: 1019]
-05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:32:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=206.2ms, total=206.3ms	[env.py: 1075]
-05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.364, 0.004)	[env.py: 1079]
-05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.7 deg	[env.py: 1082]
-05/10 08:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
-05/10 08:32:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:32:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:32:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:32:19 INFO: [Worker 0] Worker 0 house 1 episode 120/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:32:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:32:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:32:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:32:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:32:20 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:32:20 INFO: [Worker 0] [PROFILE] Episode 124 house 1 success=True episode_total=0.56s:
-  episode_total: mean=225.28s, total=225.28s, count=1, min=225280.4ms, max=225280.4ms
-  sensor_polling: mean=530.7ms, total=159.22s, count=300, min=461.6ms, max=985.7ms
-  physics_step: mean=25.8ms, total=7.73s, count=300, min=15.5ms, max=44.5ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4336.3ms, max=4336.3ms
-  task_sampling: mean=560.2ms, total=560.2ms, count=1, min=560.2ms, max=560.2ms
-  task_specific_sample: mean=556.0ms, total=556.0ms, count=1, min=556.0ms, max=556.0ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=475.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:32:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.490s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:32:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.487[m] 91.040[deg]	[grasp_sample.py: 539]
-05/10 08:32:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:32:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:32:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:32:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:32:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:32:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:32:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:32:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:32:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:32:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:32:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:32:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:32:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:32:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013329m	[env.py: 870]
-05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:32:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83170205  0.42673976 -0.01332869] yaw=186.7deg	[env.py: 1019]
-05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94594294  0.18919986 -0.01332869] yaw=169.4deg	[env.py: 1019]
-05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10542348  1.20851436 -0.01332869] yaw=-125.5deg	[env.py: 1019]
-05/10 08:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:32:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.2ms, total=195.3ms	[env.py: 1075]
-05/10 08:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.832, 0.427, -0.013)	[env.py: 1079]
-05/10 08:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.7 deg	[env.py: 1082]
-05/10 08:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
-05/10 08:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:32:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:32:22 INFO: [Worker 0] Worker 0 house 1 episode 125/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:32:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:32:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:32:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:32:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:32:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.529s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:32:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.457[m] 94.672[deg]	[grasp_sample.py: 539]
-05/10 08:32:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:32:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:32:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:32:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:32:56 INFO: [Worker 0] Worker 0 house 1 episode 122 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:33:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:33:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:33:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:33:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:33:17 INFO: [Worker 0] Saved videos eagerly for episode 89 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:33:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 08:33:17 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
-05/10 08:33:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:33:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:33:22 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:33:22 INFO: [Worker 0] [PROFILE] Episode 122 house 1 success=True episode_total=0.60s:
-  episode_total: mean=194.00s, total=194.00s, count=1, min=193997.9ms, max=193997.9ms
-  sensor_polling: mean=517.2ms, total=153.60s, count=297, min=453.1ms, max=973.7ms
-  physics_step: mean=24.9ms, total=7.38s, count=297, min=20.1ms, max=102.8ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4284.7ms, max=4284.7ms
-  task_sampling: mean=602.2ms, total=602.2ms, count=1, min=602.2ms, max=602.2ms
-  task_specific_sample: mean=598.5ms, total=598.5ms, count=1, min=598.5ms, max=598.5ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=440.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:33:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:33:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:33:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:33:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:33:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:33:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:33:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:33:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:33:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:33:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:33:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:33:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040894m	[env.py: 870]
-05/10 08:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:33:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:33:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97011445  0.31285578  0.04089413] yaw=169.4deg	[env.py: 1019]
-05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9750836   1.04312421  0.04089413] yaw=-135.3deg	[env.py: 1019]
-05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87265657  0.83956029  0.04089413] yaw=-151.8deg	[env.py: 1019]
-05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:33:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=232.5ms, total=232.5ms	[env.py: 1075]
-05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.970, 0.313, 0.041)	[env.py: 1079]
-05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.4 deg	[env.py: 1082]
-05/10 08:33:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
-05/10 08:33:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:33:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:33:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:33:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:33:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:33:24 INFO: [Worker 0] Worker 0 house 1 episode 123/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:33:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:33:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:33:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:33:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:33:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.484s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:33:25 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.301[m] 88.187[deg]	[grasp_sample.py: 539]
-05/10 08:33:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:33:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:33:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:33:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:34:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:34:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:34:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:34:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:34:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:34:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:34:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:34:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:34:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:34:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:34:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:34:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:34:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:34:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:34:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:34:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:34:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:34:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:34:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:34:51 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.574s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:34:51 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.221[deg]	[grasp_sample.py: 539]
-05/10 08:34:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:34:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:34:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:34:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:34:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:34:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:34:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:34:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:34:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:34:52 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:34:52 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.222[deg]	[grasp_sample.py: 539]
-05/10 08:34:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:34:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:34:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:34:55 INFO: [Worker 0] Worker 0 house 1 episode 118 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:34:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:34:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:34:57 INFO: [Worker 0] Worker 0 house 1 episode 120 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:34:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:34:58 INFO: [Worker 0] Worker 0 house 1 episode 125 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:35:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:35:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:35:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:35:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:35:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:35:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:35:21 INFO: [Worker 0] Saved videos eagerly for episode 88 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:35:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 08:35:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:35:21 INFO: [Worker 0] Saved videos eagerly for episode 86 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:35:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 08:35:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:35:23 INFO: [Worker 0] Saved videos eagerly for episode 80 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:35:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 08:35:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:35:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:35:25 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:35:25 INFO: [Worker 0] [PROFILE] Episode 120 house 1 success=True episode_total=0.50s:
-  episode_total: mean=185.87s, total=185.87s, count=1, min=185872.4ms, max=185872.4ms
-  sensor_polling: mean=486.0ms, total=145.80s, count=300, min=425.7ms, max=754.8ms
-  physics_step: mean=24.4ms, total=7.33s, count=300, min=16.0ms, max=58.9ms
-  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4105.4ms, max=4105.4ms
-  task_sampling: mean=498.4ms, total=498.4ms, count=1, min=498.4ms, max=498.4ms
-  task_specific_sample: mean=494.6ms, total=494.6ms, count=1, min=494.6ms, max=494.6ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=445.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:35:25 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:35:25 INFO: [Worker 0] [PROFILE] Episode 118 house 1 success=True episode_total=0.57s:
-  episode_total: mean=194.44s, total=194.44s, count=1, min=194437.4ms, max=194437.4ms
-  sensor_polling: mean=471.5ms, total=141.45s, count=300, min=417.7ms, max=735.0ms
-  physics_step: mean=21.5ms, total=6.44s, count=300, min=15.1ms, max=36.8ms
-  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4235.7ms, max=4235.7ms
-  task_sampling: mean=573.4ms, total=573.4ms, count=1, min=573.4ms, max=573.4ms
-  task_specific_sample: mean=569.3ms, total=569.3ms, count=1, min=569.3ms, max=569.3ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=440.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:35:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:35:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:35:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:35:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:35:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:35:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:35:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038878m	[env.py: 870]
-05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:35:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91539784  0.40336499  0.0388776 ] yaw=176.3deg	[env.py: 1019]
-05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:35:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=165.5ms, total=165.5ms	[env.py: 1075]
-05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.403, 0.039)	[env.py: 1079]
-05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.3 deg	[env.py: 1082]
-05/10 08:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m	[env.py: 1086]
-05/10 08:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:35:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:35:27 INFO: [Worker 0] Worker 0 house 1 episode 121/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:35:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:35:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:35:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:35:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:35:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:35:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:35:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:35:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:35:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:35:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:35:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:35:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:35:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033159m	[env.py: 870]
-05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:35:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04408317  0.88811712  0.03315941] yaw=-152.8deg	[env.py: 1019]
-05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07834077  1.12105494  0.03315941] yaw=-140.2deg	[env.py: 1019]
-05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.66739052  0.18949019  0.03315941] yaw=155.1deg	[env.py: 1019]
-05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:35:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.1ms, total=109.2ms	[env.py: 1075]
-05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.044, 0.888, 0.033)	[env.py: 1079]
-05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.8 deg	[env.py: 1082]
-05/10 08:35:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.773m	[env.py: 1086]
-05/10 08:35:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:35:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:35:27 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:35:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:35:27 INFO: [Worker 0] Worker 0 house 1 episode 119/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:35:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:35:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:35:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:35:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.483s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:35:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.347[m] 87.844[deg]	[grasp_sample.py: 539]
-05/10 08:35:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:35:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:35:27 INFO: [Worker 0] [PROFILE] Episode 125 house 1 success=True episode_total=0.49s:
-  episode_total: mean=186.02s, total=186.02s, count=1, min=186019.0ms, max=186019.0ms
-  sensor_polling: mean=486.3ms, total=145.89s, count=300, min=425.6ms, max=741.2ms
-  physics_step: mean=22.4ms, total=6.71s, count=300, min=16.4ms, max=35.5ms
-  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4229.6ms, max=4229.6ms
-  task_sampling: mean=491.2ms, total=491.2ms, count=1, min=491.2ms, max=491.2ms
-  task_specific_sample: mean=487.3ms, total=487.3ms, count=1, min=487.3ms, max=487.3ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=452.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:35:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:35:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:35:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.526s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:35:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.326[m] 77.487[deg]	[grasp_sample.py: 539]
-05/10 08:35:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:35:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:35:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:35:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:35:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:35:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:35:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:35:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:35:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:35:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033549m	[env.py: 870]
-05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:35:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72823794  0.5005581   0.0335494 ] yaw=-179.8deg	[env.py: 1019]
-05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86364406  0.55936001  0.0335494 ] yaw=-166.0deg	[env.py: 1019]
-05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.69503607  0.82426719  0.0335494 ] yaw=-153.7deg	[env.py: 1019]
-05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:35:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.3ms, total=157.3ms	[env.py: 1075]
-05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.728, 0.501, 0.034)	[env.py: 1079]
-05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.8 deg	[env.py: 1082]
-05/10 08:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m	[env.py: 1086]
-05/10 08:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:35:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:35:29 INFO: [Worker 0] Worker 0 house 1 episode 126/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:35:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:35:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:35:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:35:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:35:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.650s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:35:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.540[m] 95.478[deg]	[grasp_sample.py: 539]
-05/10 08:35:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:35:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:35:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:35:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:35:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:35:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:35:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:35:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:35:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:35:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:35:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:35:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:35:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:35:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:35:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:35:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 74 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:35:47 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.382s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:35:47 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.617[deg]	[grasp_sample.py: 539]
-05/10 08:35:48 ERROR: [Worker 0] Worker 0 house 1 episode 123 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 08:35:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:35:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:35:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:35:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:35:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:35:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:35:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:35:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:35:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:35:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:35:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033112m	[env.py: 870]
-05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:35:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7470702   0.89796488  0.03311169] yaw=-156.0deg	[env.py: 1019]
-05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9291014   0.44031533  0.03311169] yaw=181.9deg	[env.py: 1019]
-05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80114761  0.27315374  0.03311169] yaw=178.1deg	[env.py: 1019]
-05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:35:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.4ms, total=107.4ms	[env.py: 1075]
-05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.898, 0.033)	[env.py: 1079]
-05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.0 deg	[env.py: 1082]
-05/10 08:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m	[env.py: 1086]
-05/10 08:35:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:35:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:35:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:35:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:35:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:35:50 INFO: [Worker 0] Worker 0 house 1 episode 124/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:35:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:35:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:35:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:35:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:35:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.466s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:35:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.623[m] 91.862[deg]	[grasp_sample.py: 539]
-05/10 08:35:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:35:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:35:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:35:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:36:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:36:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:36:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:36:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:36:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:36:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:36:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:36:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:36:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:36:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:37:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:37:44 INFO: [Worker 0] Worker 0 house 1 episode 119 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:37:53 INFO: [Worker 0] Worker 0 house 1 episode 121 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:37:53 INFO: [Worker 0] Worker 0 house 1 episode 126 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:38:06 INFO: [Worker 0] Saved videos eagerly for episode 87 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:38:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 08:38:06 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
-05/10 08:38:10 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:38:10 INFO: [Worker 0] [PROFILE] Episode 119 house 1 success=True episode_total=0.39s:
-  episode_total: mean=163.31s, total=163.31s, count=1, min=163305.7ms, max=163305.7ms
-  sensor_polling: mean=449.5ms, total=128.56s, count=286, min=413.5ms, max=753.4ms
-  physics_step: mean=19.6ms, total=5.60s, count=286, min=16.7ms, max=31.6ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3866.1ms, max=3866.1ms
-  task_sampling: mean=385.8ms, total=385.8ms, count=1, min=385.8ms, max=385.8ms
-  task_specific_sample: mean=382.4ms, total=382.4ms, count=1, min=382.4ms, max=382.4ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=414.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:38:11 INFO: [Worker 0] Worker 0 house 1 episode 124 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:38:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:38:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:38:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:38:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:38:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:38:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:38:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:38:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:38:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039866m	[env.py: 870]
-05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:38:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.04322438  1.15420995  0.0398656 ] yaw=-124.2deg	[env.py: 1019]
-05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.05667485  0.89633784  0.0398656 ] yaw=-144.1deg	[env.py: 1019]
-05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:38:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=170.3ms, total=170.3ms	[env.py: 1075]
-05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.043, 1.154, 0.040)	[env.py: 1079]
-05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.2 deg	[env.py: 1082]
-05/10 08:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
-05/10 08:38:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:38:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:38:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:38:12 INFO: [Worker 0] Worker 0 house 1 episode 120/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:38:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:38:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:38:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:38:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:38:13 INFO: [Worker 0] Saved videos eagerly for episode 89 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:38:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 08:38:13 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
-05/10 08:38:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.611s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:38:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.532[m] 90.909[deg]	[grasp_sample.py: 539]
-05/10 08:38:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:38:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:38:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:38:16 INFO: [Worker 0] Saved videos eagerly for episode 81 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:38:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 08:38:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:38:17 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:38:17 INFO: [Worker 0] [PROFILE] Episode 121 house 1 success=True episode_total=0.42s:
-  episode_total: mean=170.71s, total=170.71s, count=1, min=170709.4ms, max=170709.4ms
-  sensor_polling: mean=449.7ms, total=130.42s, count=290, min=415.4ms, max=756.1ms
-  physics_step: mean=21.7ms, total=6.30s, count=290, min=17.4ms, max=33.6ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3874.8ms, max=3874.8ms
-  task_sampling: mean=421.4ms, total=421.4ms, count=1, min=421.4ms, max=421.4ms
-  task_specific_sample: mean=418.0ms, total=418.0ms, count=1, min=418.0ms, max=418.0ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=395.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:38:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:38:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:38:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:38:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:38:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:38:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:38:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:38:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:38:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:38:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:38:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045991m	[env.py: 870]
-05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:38:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85900732  0.97292256 -0.04599097] yaw=-148.7deg	[env.py: 1019]
-05/10 08:38:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.01746074  0.64078346 -0.04599097] yaw=-164.2deg	[env.py: 1019]
-05/10 08:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:38:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=952.6ms, total=952.7ms	[env.py: 1075]
-05/10 08:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.973, -0.046)	[env.py: 1079]
-05/10 08:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.7 deg	[env.py: 1082]
-05/10 08:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
-05/10 08:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:38:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:38:20 INFO: [Worker 0] Worker 0 house 1 episode 122/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:38:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:38:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:38:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:38:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:38:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.623s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:38:23 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.572[m] 91.861[deg]	[grasp_sample.py: 539]
-05/10 08:38:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:38:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:38:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:38:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:38:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:38:29 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.59s (batch: 4.35s, save: 9.23s)	[pipeline.py: 300]
-05/10 08:38:30 INFO: [Worker 0] [PROFILE] Episode 126 house 1 success=True episode_total=0.42s:
-  episode_total: mean=180.86s, total=180.86s, count=1, min=180856.4ms, max=180856.4ms
-  sensor_polling: mean=446.2ms, total=133.87s, count=300, min=410.5ms, max=744.6ms
-  save_trajectories: mean=9.23s, total=9.23s, count=1, min=9231.1ms, max=9231.1ms
-  physics_step: mean=20.9ms, total=6.28s, count=300, min=14.0ms, max=40.6ms
-  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4354.4ms, max=4354.4ms
-  task_sampling: mean=422.8ms, total=422.8ms, count=1, min=422.8ms, max=422.8ms
-  task_specific_sample: mean=418.9ms, total=418.9ms, count=1, min=418.9ms, max=418.9ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=390.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:38:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:38:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:38:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:38:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:38:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:38:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:38:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:38:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:38:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040225m	[env.py: 870]
-05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:38:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77809856  0.76928139 -0.04022476] yaw=-156.6deg	[env.py: 1019]
-05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84071766  1.13222969 -0.04022476] yaw=-145.0deg	[env.py: 1019]
-05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93104028  0.3226719  -0.04022476] yaw=158.7deg	[env.py: 1019]
-05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:38:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.0ms, total=138.1ms	[env.py: 1075]
-05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.778, 0.769, -0.040)	[env.py: 1079]
-05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.6 deg	[env.py: 1082]
-05/10 08:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
-05/10 08:38:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:38:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:38:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:38:32 INFO: [Worker 0] Worker 0 house 1 episode 127/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:38:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:38:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:38:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:38:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:38:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.527s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:38:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.538[m] 85.939[deg]	[grasp_sample.py: 539]
-05/10 08:38:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:38:33 INFO: [Worker 0] Saved videos eagerly for episode 90 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:38:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 08:38:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:38:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:38:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:38:37 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:38:37 INFO: [Worker 0] [PROFILE] Episode 124 house 1 success=True episode_total=0.91s:
-  episode_total: mean=156.10s, total=312.20s, count=2, min=145077.8ms, max=167124.9ms
-  sensor_polling: mean=459.1ms, total=232.78s, count=507, min=382.3ms, max=760.6ms
-  physics_step: mean=20.8ms, total=10.54s, count=507, min=12.9ms, max=70.7ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3970.8ms, max=3970.8ms
-  task_sampling: mean=456.7ms, total=913.4ms, count=2, min=352.3ms, max=561.1ms
-  task_specific_sample: mean=453.1ms, total=906.2ms, count=2, min=349.2ms, max=557.0ms
-  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms
-  mj_forward_sync: mean=422.9us, total=0.8ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:38:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:38:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:38:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:38:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:38:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:38:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:38:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.033m, effective arm-mount z=0.827m (base_body_z=-0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033248m	[env.py: 870]
-05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:38:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98311258  0.2196928  -0.03324766] yaw=156.5deg	[env.py: 1019]
-05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:38:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=151.7ms, total=151.7ms	[env.py: 1075]
-05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.983, 0.220, -0.033)	[env.py: 1079]
-05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.5 deg	[env.py: 1082]
-05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
-05/10 08:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:38:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:38:39 INFO: [Worker 0] Worker 0 house 1 episode 125/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:38:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:38:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:38:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:38:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:38:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.515s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:38:40 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.346[m] 94.447[deg]	[grasp_sample.py: 539]
-05/10 08:38:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:38:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:38:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:39:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:39:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:39:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:39:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:39:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:39:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:39:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:39:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:39:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:39:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:39:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:39:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:40:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:40:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:40:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:40:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:40:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:40:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:40:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:40:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:40:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:40:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:40:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:40:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:40:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 74 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:40:31 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.441s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 08:40:31 ERROR: [Worker 0] Worker 0 house 1 episode 120 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 08:40:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:40:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:40:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:40:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:40:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:40:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:40:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:40:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:40:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:40:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:40:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:40:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015234m	[env.py: 870]
-05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:40:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65842753  0.77953743 -0.01523372] yaw=-170.0deg	[env.py: 1019]
-05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.760062    0.06623869 -0.01523372] yaw=157.7deg	[env.py: 1019]
-05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03074826  0.88738594 -0.01523372] yaw=-146.9deg	[env.py: 1019]
-05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:40:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.2ms, total=97.3ms	[env.py: 1075]
-05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.658, 0.780, -0.015)	[env.py: 1079]
-05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.0 deg	[env.py: 1082]
-05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
-05/10 08:40:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:40:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:40:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:40:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:40:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:40:33 INFO: [Worker 0] Worker 0 house 1 episode 121/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:40:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:40:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:40:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:40:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:40:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:40:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.493s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:40:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.651[m] 85.475[deg]	[grasp_sample.py: 539]
-05/10 08:40:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:40:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:40:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:40:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:40:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:40:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:40:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:40:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:40:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:40:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:40:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:40:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:40:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:40:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:40:42 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.367s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:40:42 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.221[deg]	[grasp_sample.py: 539]
-05/10 08:40:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:40:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:40:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:40:47 INFO: [Worker 0] Worker 0 house 1 episode 122 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:40:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:40:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:40:58 INFO: [Worker 0] Worker 0 house 1 episode 127 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:41:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:41:10 INFO: [Worker 0] Saved videos eagerly for episode 90 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:41:10 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 08:41:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:41:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:41:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:41:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:41:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:41:22 INFO: [Worker 0] Saved videos eagerly for episode 82 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:41:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 08:41:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:41:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:41:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:41:23 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.83s (batch: 3.95s, save: 8.88s)	[pipeline.py: 300]
-05/10 08:41:23 INFO: [Worker 0] [PROFILE] Episode 122 house 1 success=True episode_total=1.28s:
-  episode_total: mean=184.57s, total=184.57s, count=1, min=184567.7ms, max=184567.7ms
-  sensor_polling: mean=451.7ms, total=135.50s, count=300, min=408.1ms, max=936.6ms
-  save_trajectories: mean=8.88s, total=8.88s, count=1, min=8884.7ms, max=8884.7ms
-  physics_step: mean=20.8ms, total=6.25s, count=300, min=17.1ms, max=56.3ms
-  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3945.5ms, max=3945.5ms
-  task_sampling: mean=1.28s, total=1.28s, count=1, min=1278.2ms, max=1278.2ms
-  task_specific_sample: mean=1.27s, total=1.27s, count=1, min=1274.4ms, max=1274.4ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=482.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=26.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:41:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:41:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:41:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:41:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:41:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:41:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:41:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:41:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:41:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027645m	[env.py: 870]
-05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:41:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01543389  1.19691827 -0.02764545] yaw=-122.7deg	[env.py: 1019]
-05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:41:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96897842  0.50308475 -0.02764545] yaw=-171.3deg	[env.py: 1019]
-05/10 08:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.98161845  0.174933   -0.02764545] yaw=150.2deg	[env.py: 1019]
-05/10 08:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:41:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=703.4ms, total=703.4ms	[env.py: 1075]
-05/10 08:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.015, 1.197, -0.028)	[env.py: 1079]
-05/10 08:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.7 deg	[env.py: 1082]
-05/10 08:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
-05/10 08:41:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:41:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:41:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:41:26 INFO: [Worker 0] Worker 0 house 1 episode 123/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:41:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:41:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:41:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:41:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:41:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:41:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.733s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:41:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.567[m] 92.495[deg]	[grasp_sample.py: 539]
-05/10 08:41:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:41:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:41:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:41:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:41:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:41:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:41:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:41:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:41:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:41:35 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.326s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:41:35 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.781[deg]	[grasp_sample.py: 539]
-05/10 08:41:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:41:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:41:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:41:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:41:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:41:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:41:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.36s (batch: 4.63s, save: 11.73s)	[pipeline.py: 300]
-05/10 08:41:39 INFO: [Worker 0] [PROFILE] Episode 127 house 1 success=True episode_total=0.46s:
-  episode_total: mean=187.71s, total=187.71s, count=1, min=187709.6ms, max=187709.6ms
-  sensor_polling: mean=454.9ms, total=136.46s, count=300, min=406.3ms, max=774.8ms
-  save_trajectories: mean=11.73s, total=11.73s, count=1, min=11725.3ms, max=11725.3ms
-  physics_step: mean=21.1ms, total=6.33s, count=300, min=16.6ms, max=36.9ms
-  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4631.3ms, max=4631.3ms
-  task_sampling: mean=456.4ms, total=456.4ms, count=1, min=456.4ms, max=456.4ms
-  task_specific_sample: mean=451.7ms, total=451.7ms, count=1, min=451.7ms, max=451.7ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=581.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:41:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:41:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:41:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:41:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:41:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:41:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:41:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:41:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:41:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:41:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001084m	[env.py: 870]
-05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:41:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87062618  0.73558895 -0.00108431] yaw=-169.9deg	[env.py: 1019]
-05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91746967  0.35527615 -0.00108431] yaw=169.6deg	[env.py: 1019]
-05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.00337334e+00  1.16178510e+00 -1.08431457e-03] yaw=-141.0deg	[env.py: 1019]
-05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:41:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=245.9ms, total=246.0ms	[env.py: 1075]
-05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.736, -0.001)	[env.py: 1079]
-05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.9 deg	[env.py: 1082]
-05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m	[env.py: 1086]
-05/10 08:41:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:41:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:41:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:41:42 INFO: [Worker 0] Worker 0 house 1 episode 128/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:41:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:41:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:41:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:41:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:41:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.570s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:41:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.441[m] 85.944[deg]	[grasp_sample.py: 539]
-05/10 08:41:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:41:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:41:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:41:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:41:49 INFO: [Worker 0] Worker 0 house 1 episode 125 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:41:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:42:16 INFO: [Worker 0] Saved videos eagerly for episode 91 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:42:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 08:42:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:42:21 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 08:42:21 INFO: [Worker 0] [PROFILE] Episode 125 house 1 success=True episode_total=0.41s:
-  episode_total: mean=221.94s, total=221.94s, count=1, min=221944.4ms, max=221944.4ms
-  sensor_polling: mean=474.4ms, total=142.31s, count=300, min=400.3ms, max=983.0ms
-  physics_step: mean=21.4ms, total=6.42s, count=300, min=14.6ms, max=76.3ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4401.4ms, max=4401.4ms
-  task_sampling: mean=412.2ms, total=412.2ms, count=1, min=412.2ms, max=412.2ms
-  task_specific_sample: mean=408.7ms, total=408.7ms, count=1, min=408.7ms, max=408.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=388.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:42:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:42:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:42:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:42:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:42:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:42:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:42:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:42:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:42:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001899m	[env.py: 870]
-05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:42:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89414271  0.54109853 -0.00189858] yaw=-173.0deg	[env.py: 1019]
-05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:42:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=325.1ms, total=325.1ms	[env.py: 1075]
-05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.541, -0.002)	[env.py: 1079]
-05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.0 deg	[env.py: 1082]
-05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
-05/10 08:42:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:42:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:42:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:42:23 INFO: [Worker 0] Worker 0 house 1 episode 126/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:42:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:42:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:42:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:42:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:42:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.985s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:42:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.348[m] 80.922[deg]	[grasp_sample.py: 539]
-05/10 08:42:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:42:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:42:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:42:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:42:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:42:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:42:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:42:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:42:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:42:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:43:08 INFO: [Worker 0] Worker 0 house 1 episode 121 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:43:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:43:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:43:32 INFO: [Worker 0] Saved videos eagerly for episode 88 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:43:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 08:43:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:43:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:43:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:43:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:43:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:43:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:43:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:43:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:43:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:43:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:43:45 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.76s (batch: 3.70s, save: 9.06s)	[pipeline.py: 300]
-05/10 08:43:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:43:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:43:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:43:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:43:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:43:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:43:46 INFO: [Worker 0] [PROFILE] Episode 121 house 1 success=True episode_total=0.85s:
-  episode_total: mean=166.30s, total=332.59s, count=2, min=139497.8ms, max=193095.0ms
-  sensor_polling: mean=466.3ms, total=263.44s, count=565, min=383.4ms, max=832.4ms
-  physics_step: mean=21.4ms, total=12.11s, count=565, min=14.2ms, max=61.5ms
-  save_trajectories: mean=9.06s, total=9.06s, count=1, min=9059.3ms, max=9059.3ms
-  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3700.3ms, max=3700.3ms
-  task_sampling: mean=422.8ms, total=845.6ms, count=2, min=398.3ms, max=447.3ms
-  task_specific_sample: mean=419.5ms, total=839.1ms, count=2, min=395.4ms, max=443.7ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=399.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:43:47 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.493s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:43:47 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.105[m] 5.249[deg]	[grasp_sample.py: 539]
-05/10 08:43:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:43:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:43:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:43:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:43:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:43:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:43:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:43:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:43:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:43:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:43:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.029109m	[env.py: 870]
-05/10 08:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:43:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64874183  0.69917288 -0.02910926] yaw=-161.4deg	[env.py: 1019]
-05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77403626  0.87763256 -0.02910926] yaw=-154.1deg	[env.py: 1019]
-05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98810028  0.53997202 -0.02910926] yaw=-173.5deg	[env.py: 1019]
-05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:43:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.2ms, total=105.2ms	[env.py: 1075]
-05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.649, 0.699, -0.029)	[env.py: 1079]
-05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.4 deg	[env.py: 1082]
-05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
-05/10 08:43:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:43:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:43:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:43:48 INFO: [Worker 0] Worker 0 house 1 episode 122/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:43:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:43:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:43:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:43:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:43:49 ERROR: [Worker 0] Worker 0 house 1 episode 123 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 08:43:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.130s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:43:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.616[m] 83.315[deg]	[grasp_sample.py: 539]
-05/10 08:43:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:43:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:43:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:43:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:43:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:43:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:43:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:43:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:43:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:43:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:43:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:43:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013084m	[env.py: 870]
-05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:43:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65859549  0.40513271 -0.01308378] yaw=165.0deg	[env.py: 1019]
-05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72707049  0.3993966  -0.01308378] yaw=166.5deg	[env.py: 1019]
-05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92187274  0.47587572 -0.01308378] yaw=171.4deg	[env.py: 1019]
-05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:43:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.0ms, total=148.0ms	[env.py: 1075]
-05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.659, 0.405, -0.013)	[env.py: 1079]
-05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.0 deg	[env.py: 1082]
-05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
-05/10 08:43:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:43:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:43:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:43:51 INFO: [Worker 0] Worker 0 house 1 episode 124/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:43:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:43:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:43:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:43:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:43:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.005s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:43:52 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.640[m] 96.545[deg]	[grasp_sample.py: 539]
-05/10 08:43:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:43:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:43:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:44:20 INFO: [Worker 0] Worker 0 house 1 episode 128 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:44:46 INFO: [Worker 0] Saved videos eagerly for episode 83 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:44:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 08:44:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:44:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:44:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:44:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:44:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:44:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.03s (batch: 4.49s, save: 8.54s)	[pipeline.py: 300]
-05/10 08:45:00 INFO: [Worker 0] [PROFILE] Episode 128 house 1 success=True episode_total=0.59s:
-  episode_total: mean=198.56s, total=198.56s, count=1, min=198563.9ms, max=198563.9ms
-  sensor_polling: mean=488.8ms, total=146.63s, count=300, min=408.2ms, max=773.3ms
-  save_trajectories: mean=8.54s, total=8.54s, count=1, min=8537.5ms, max=8537.5ms
-  physics_step: mean=23.0ms, total=6.89s, count=300, min=16.7ms, max=65.6ms
-  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4494.2ms, max=4494.2ms
-  task_sampling: mean=591.8ms, total=591.8ms, count=1, min=591.8ms, max=591.8ms
-  task_specific_sample: mean=587.9ms, total=587.9ms, count=1, min=587.9ms, max=587.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=555.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:45:00 INFO: [Worker 0] Worker 0 house 1 episode 126 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:45:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:45:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:45:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:45:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:45:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:45:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:45:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:45:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:45:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:45:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:45:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:45:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022052m	[env.py: 870]
-05/10 08:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:45:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91481232  0.85167558  0.02205235] yaw=-153.4deg	[env.py: 1019]
-05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98043451  0.91403449  0.02205235] yaw=-139.5deg	[env.py: 1019]
-05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95116627  1.10358008  0.02205235] yaw=-150.4deg	[env.py: 1019]
-05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:45:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=383.7ms, total=383.7ms	[env.py: 1075]
-05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.852, 0.022)	[env.py: 1079]
-05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.4 deg	[env.py: 1082]
-05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m	[env.py: 1086]
-05/10 08:45:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:45:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:45:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:45:02 INFO: [Worker 0] Worker 0 house 1 episode 129/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:45:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:45:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:45:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:45:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:45:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.607s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:45:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.426[m] 87.522[deg]	[grasp_sample.py: 539]
-05/10 08:45:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:45:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:45:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:45:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:45:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:45:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:45:26 INFO: [Worker 0] Saved videos eagerly for episode 92 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:45:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 08:45:26 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
-05/10 08:45:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:45:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:45:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:45:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:45:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:45:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:45:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:45:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.09s (batch: 3.81s, save: 8.28s)	[pipeline.py: 300]
-05/10 08:45:38 INFO: [Worker 0] [PROFILE] Episode 126 house 1 success=True episode_total=0.62s:
-  episode_total: mean=195.69s, total=195.69s, count=1, min=195687.7ms, max=195687.7ms
-  sensor_polling: mean=485.5ms, total=140.81s, count=290, min=398.9ms, max=845.8ms
-  save_trajectories: mean=8.28s, total=8.28s, count=1, min=8277.1ms, max=8277.1ms
-  physics_step: mean=23.1ms, total=6.70s, count=290, min=16.9ms, max=60.6ms
-  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3811.3ms, max=3811.3ms
-  task_sampling: mean=615.6ms, total=615.6ms, count=1, min=615.6ms, max=615.6ms
-  task_specific_sample: mean=612.1ms, total=612.1ms, count=1, min=612.1ms, max=612.1ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=497.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:45:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:45:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:45:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:45:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:45:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:45:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:45:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:45:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:45:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:45:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017107m	[env.py: 870]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:45:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95963487  0.84224347  0.01710698] yaw=-143.5deg	[env.py: 1019]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78579557  1.03770069  0.01710698] yaw=-157.7deg	[env.py: 1019]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95311179  1.15493466  0.01710698] yaw=-129.7deg	[env.py: 1019]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:45:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=321.2ms, total=321.2ms	[env.py: 1075]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.960, 0.842, 0.017)	[env.py: 1079]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.5 deg	[env.py: 1082]
-05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
-05/10 08:45:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:45:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:45:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:45:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:45:40 INFO: [Worker 0] Worker 0 house 1 episode 127/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:45:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:45:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:45:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:45:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:45:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.208s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:45:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.388[m] 89.592[deg]	[grasp_sample.py: 539]
-05/10 08:45:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:45:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:45:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:45:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:45:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:45:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:45:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:45:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:45:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:45:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:45:44 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.794s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:45:44 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.579[deg]	[grasp_sample.py: 539]
-05/10 08:45:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:45:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:45:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:45:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:45:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:45:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:46:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:46:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:46:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:46:22 INFO: [Worker 0] Worker 0 house 1 episode 122 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:46:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:46:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:46:44 INFO: [Worker 0] Saved videos eagerly for episode 89 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:46:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 08:46:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:46:48 INFO: [Worker 0] Worker 0 house 1 episode 124 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 08:46:48 INFO: [Worker 0] [PROFILE] Episode 124 house 1 success=False episode_total=1.46s:
-  episode_total: mean=160.57s, total=321.14s, count=2, min=143614.9ms, max=177526.9ms
-  sensor_polling: mean=478.3ms, total=258.74s, count=541, min=404.0ms, max=855.5ms
-  physics_step: mean=22.3ms, total=12.06s, count=541, min=15.5ms, max=61.6ms
-  task_sampling: mean=732.5ms, total=1.46s, count=2, min=412.7ms, max=1052.3ms
-  task_specific_sample: mean=728.8ms, total=1.46s, count=2, min=409.3ms, max=1048.3ms
-  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.5ms, max=2.6ms
-  mj_forward_sync: mean=496.6us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:46:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:46:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:46:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:46:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:46:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:46:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:46:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:46:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:46:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037297m	[env.py: 870]
-05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:46:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88051623  0.61732352  0.03729713] yaw=-175.7deg	[env.py: 1019]
-05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.65897549  0.51243694  0.03729713] yaw=-186.8deg	[env.py: 1019]
-05/10 08:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:46:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=153.2ms, total=153.3ms	[env.py: 1075]
-05/10 08:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.617, 0.037)	[env.py: 1079]
-05/10 08:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.7 deg	[env.py: 1082]
-05/10 08:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
-05/10 08:46:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:46:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:46:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:46:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:46:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:46:50 INFO: [Worker 0] Worker 0 house 1 episode 125/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:46:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:46:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:46:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:46:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:46:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.517s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:46:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.425[m] 97.296[deg]	[grasp_sample.py: 539]
-05/10 08:46:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:46:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:46:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:46:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:46:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:46:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.78s (batch: 3.92s, save: 8.85s)	[pipeline.py: 300]
-05/10 08:46:58 INFO: [Worker 0] [PROFILE] Episode 122 house 1 success=True episode_total=0.73s:
-  episode_total: mean=190.48s, total=190.48s, count=1, min=190479.9ms, max=190479.9ms
-  sensor_polling: mean=474.7ms, total=142.41s, count=300, min=393.9ms, max=819.9ms
-  save_trajectories: mean=8.85s, total=8.85s, count=1, min=8853.1ms, max=8853.1ms
-  physics_step: mean=22.0ms, total=6.60s, count=300, min=13.2ms, max=84.3ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3922.4ms, max=3922.4ms
-  task_sampling: mean=728.5ms, total=728.5ms, count=1, min=728.5ms, max=728.5ms
-  task_specific_sample: mean=724.3ms, total=724.3ms, count=1, min=724.3ms, max=724.3ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=527.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:47:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:47:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:47:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:47:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:47:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:47:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:47:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:47:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:47:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:47:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:47:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027931m	[env.py: 870]
-05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:47:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.23161176  1.07464444 -0.02793092] yaw=-138.2deg	[env.py: 1019]
-05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00528666  0.27198425 -0.02793092] yaw=170.6deg	[env.py: 1019]
-05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86578837  0.53950615 -0.02793092] yaw=-178.2deg	[env.py: 1019]
-05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:47:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.5ms, total=122.6ms	[env.py: 1075]
-05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.232, 1.075, -0.028)	[env.py: 1079]
-05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.2 deg	[env.py: 1082]
-05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.757m	[env.py: 1086]
-05/10 08:47:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:47:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:47:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:47:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:47:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:47:00 INFO: [Worker 0] Worker 0 house 1 episode 123/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:47:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:47:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:47:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:47:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:47:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.421s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:47:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.356[m] 94.475[deg]	[grasp_sample.py: 539]
-05/10 08:47:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:47:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:47:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:47:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:47:34 INFO: [Worker 0] Worker 0 house 1 episode 129 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:47:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:47:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:47:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:47:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:47:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:47:59 INFO: [Worker 0] Saved videos eagerly for episode 84 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:47:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 08:47:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:48:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:48:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:48:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.74s (batch: 4.19s, save: 9.55s)	[pipeline.py: 300]
-05/10 08:48:14 INFO: [Worker 0] [PROFILE] Episode 129 house 1 success=True episode_total=0.69s:
-  episode_total: mean=192.64s, total=192.64s, count=1, min=192637.7ms, max=192637.7ms
-  sensor_polling: mean=468.8ms, total=140.63s, count=300, min=393.6ms, max=871.4ms
-  save_trajectories: mean=9.55s, total=9.55s, count=1, min=9549.2ms, max=9549.2ms
-  physics_step: mean=22.1ms, total=6.62s, count=300, min=15.2ms, max=49.0ms
-  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4186.7ms, max=4186.7ms
-  task_sampling: mean=687.2ms, total=687.2ms, count=1, min=687.2ms, max=687.2ms
-  task_specific_sample: mean=682.9ms, total=682.9ms, count=1, min=682.9ms, max=682.9ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=485.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:48:14 INFO: [Worker 0] Worker 0 house 1 episode 127 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:48:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:48:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:48:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:48:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:48:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:48:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:48:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040266m	[env.py: 870]
-05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:48:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.79293318 -0.00418341  0.04026569] yaw=149.3deg	[env.py: 1019]
-05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:48:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=169.1ms, total=169.1ms	[env.py: 1075]
-05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.793, -0.004, 0.040)	[env.py: 1079]
-05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.3 deg	[env.py: 1082]
-05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
-05/10 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:48:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:48:16 INFO: [Worker 0] Worker 0 house 1 episode 130/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:48:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:48:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:48:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:48:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:48:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.972s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:48:21 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.555[m] 85.597[deg]	[grasp_sample.py: 539]
-05/10 08:48:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:48:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:48:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:48:36 INFO: [Worker 0] Saved videos eagerly for episode 93 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:48:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 08:48:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:48:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:48:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:48:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.06s (batch: 4.53s, save: 11.53s)	[pipeline.py: 300]
-05/10 08:48:53 INFO: [Worker 0] [PROFILE] Episode 127 house 1 success=True episode_total=0.62s:
-  episode_total: mean=193.16s, total=193.16s, count=1, min=193158.5ms, max=193158.5ms
-  sensor_polling: mean=473.6ms, total=142.08s, count=300, min=400.1ms, max=877.1ms
-  save_trajectories: mean=11.53s, total=11.53s, count=1, min=11530.4ms, max=11530.4ms
-  physics_step: mean=22.7ms, total=6.80s, count=300, min=16.9ms, max=55.9ms
-  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4526.7ms, max=4526.7ms
-  task_sampling: mean=621.4ms, total=621.4ms, count=1, min=621.4ms, max=621.4ms
-  task_specific_sample: mean=617.1ms, total=617.1ms, count=1, min=617.1ms, max=617.1ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=491.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:48:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:48:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:48:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:48:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:48:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:48:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:48:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:48:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:48:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033524m	[env.py: 870]
-05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:48:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65046697  0.23983834  0.03352407] yaw=167.6deg	[env.py: 1019]
-05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81911324  0.12953032  0.03352407] yaw=156.2deg	[env.py: 1019]
-05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.63451685  0.27703171  0.03352407] yaw=166.0deg	[env.py: 1019]
-05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:48:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.8ms, total=203.8ms	[env.py: 1075]
-05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.650, 0.240, 0.034)	[env.py: 1079]
-05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.6 deg	[env.py: 1082]
-05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
-05/10 08:48:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:48:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:48:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:48:55 INFO: [Worker 0] Worker 0 house 1 episode 128/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:48:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:48:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:48:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:48:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:48:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.055s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:48:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.654[m] 95.903[deg]	[grasp_sample.py: 539]
-05/10 08:48:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:48:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:48:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:49:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:49:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:49:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:49:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:49:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:49:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:49:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:49:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:49:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:49:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:49:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:49:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:49:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:49:12 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.451s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:49:12 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.299[deg]	[grasp_sample.py: 539]
-05/10 08:49:13 ERROR: [Worker 0] Worker 0 house 1 episode 123 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 08:49:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:49:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:49:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:49:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:49:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:49:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:49:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:49:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:49:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007025m	[env.py: 870]
-05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:49:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91018292  0.49604923  0.0070254 ] yaw=-178.9deg	[env.py: 1019]
-05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75203436  0.29024935  0.0070254 ] yaw=178.6deg	[env.py: 1019]
-05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7116042   0.48044217  0.0070254 ] yaw=169.1deg	[env.py: 1019]
-05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:49:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.3ms, total=85.3ms	[env.py: 1075]
-05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.496, 0.007)	[env.py: 1079]
-05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.9 deg	[env.py: 1082]
-05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m	[env.py: 1086]
-05/10 08:49:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:49:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:49:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:49:15 INFO: [Worker 0] Worker 0 house 1 episode 124/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:49:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:49:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:49:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:49:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:49:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.428s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:49:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.403[m] 101.186[deg]	[grasp_sample.py: 539]
-05/10 08:49:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:49:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:49:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:49:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:49:26 INFO: [Worker 0] Worker 0 house 1 episode 125 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:49:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:49:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:49:53 INFO: [Worker 0] Saved videos eagerly for episode 91 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:49:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 08:49:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:49:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:50:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:50:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:50:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.92s (batch: 3.99s, save: 7.94s)	[pipeline.py: 300]
-05/10 08:50:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:50:06 INFO: [Worker 0] [PROFILE] Episode 125 house 1 success=True episode_total=0.41s:
-  episode_total: mean=196.52s, total=196.52s, count=1, min=196519.6ms, max=196519.6ms
-  sensor_polling: mean=476.6ms, total=142.98s, count=300, min=399.2ms, max=960.6ms
-  save_trajectories: mean=7.94s, total=7.94s, count=1, min=7935.3ms, max=7935.3ms
-  physics_step: mean=23.0ms, total=6.90s, count=300, min=16.5ms, max=110.6ms
-  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3989.2ms, max=3989.2ms
-  task_sampling: mean=412.1ms, total=412.1ms, count=1, min=412.1ms, max=412.1ms
-  task_specific_sample: mean=408.3ms, total=408.3ms, count=1, min=408.3ms, max=408.3ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=375.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=13.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:50:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:50:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:50:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:50:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:50:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:50:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:50:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:50:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:50:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:50:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012123m	[env.py: 870]
-05/10 08:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:50:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74315398  0.42841692  0.01212339] yaw=167.1deg	[env.py: 1019]
-05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75842361  0.25616136  0.01212339] yaw=168.8deg	[env.py: 1019]
-05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.6762617   0.7468238   0.01212339] yaw=-158.0deg	[env.py: 1019]
-05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:50:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.0ms, total=167.0ms	[env.py: 1075]
-05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.428, 0.012)	[env.py: 1079]
-05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.1 deg	[env.py: 1082]
-05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
-05/10 08:50:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:50:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:50:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:50:08 INFO: [Worker 0] Worker 0 house 1 episode 126/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:50:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:50:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:50:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:50:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:50:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.503s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:50:09 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.510[m] 89.487[deg]	[grasp_sample.py: 539]
-05/10 08:50:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:50:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:50:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:50:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:50:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:50:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:50:56 INFO: [Worker 0] Worker 0 house 1 episode 130 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:51:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:51:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:51:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:51:18 INFO: [Worker 0] Saved videos eagerly for episode 85 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:51:18 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 08:51:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:51:30 INFO: [Worker 0] Worker 0 house 1 episode 128 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:51:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:51:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:51:32 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.57s (batch: 4.12s, save: 9.45s)	[pipeline.py: 300]
-05/10 08:51:33 INFO: [Worker 0] [PROFILE] Episode 130 house 1 success=True episode_total=0.48s:
-  episode_total: mean=196.83s, total=196.83s, count=1, min=196828.5ms, max=196828.5ms
-  sensor_polling: mean=479.6ms, total=143.87s, count=300, min=405.9ms, max=1061.5ms
-  save_trajectories: mean=9.45s, total=9.45s, count=1, min=9452.3ms, max=9452.3ms
-  physics_step: mean=22.1ms, total=6.63s, count=300, min=13.5ms, max=43.4ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4121.5ms, max=4121.5ms
-  task_sampling: mean=483.8ms, total=483.8ms, count=1, min=483.8ms, max=483.8ms
-  task_specific_sample: mean=479.2ms, total=479.2ms, count=1, min=479.2ms, max=479.2ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=559.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:51:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:51:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:51:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:51:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:51:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:51:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:51:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:51:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:51:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048447m	[env.py: 870]
-05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:51:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00361124  0.77128109  0.04844682] yaw=-147.2deg	[env.py: 1019]
-05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:51:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=176.0ms, total=176.1ms	[env.py: 1075]
-05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.004, 0.771, 0.048)	[env.py: 1079]
-05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.2 deg	[env.py: 1082]
-05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
-05/10 08:51:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:51:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:51:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:51:35 INFO: [Worker 0] Worker 0 house 1 episode 131/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:51:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:51:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:51:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:51:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:51:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.522s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:51:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.310[m] 80.727[deg]	[grasp_sample.py: 539]
-05/10 08:51:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:51:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:51:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:51:50 INFO: [Worker 0] Saved videos eagerly for episode 94 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:51:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 08:51:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:51:51 INFO: [Worker 0] Worker 0 house 1 episode 124 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:52:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:52:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:52:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:52:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.91s (batch: 4.28s, save: 8.63s)	[pipeline.py: 300]
-05/10 08:52:04 INFO: [Worker 0] [PROFILE] Episode 128 house 1 success=True episode_total=0.46s:
-  episode_total: mean=188.84s, total=188.84s, count=1, min=188842.1ms, max=188842.1ms
-  sensor_polling: mean=472.1ms, total=141.64s, count=300, min=405.4ms, max=819.9ms
-  save_trajectories: mean=8.63s, total=8.63s, count=1, min=8631.0ms, max=8631.0ms
-  physics_step: mean=22.6ms, total=6.79s, count=300, min=16.8ms, max=61.1ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4281.4ms, max=4281.4ms
-  task_sampling: mean=457.9ms, total=457.9ms, count=1, min=457.9ms, max=457.9ms
-  task_specific_sample: mean=453.8ms, total=453.8ms, count=1, min=453.8ms, max=453.8ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=458.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:52:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:52:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:52:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:52:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:52:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:52:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:52:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:52:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:52:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:52:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:52:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039673m	[env.py: 870]
-05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:52:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92102937  0.26615271  0.03967294] yaw=169.6deg	[env.py: 1019]
-05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09439448  0.8849742   0.03967294] yaw=-156.7deg	[env.py: 1019]
-05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92649586  0.90121476  0.03967294] yaw=-150.0deg	[env.py: 1019]
-05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:52:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=277.0ms, total=277.1ms	[env.py: 1075]
-05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.921, 0.266, 0.040)	[env.py: 1079]
-05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.6 deg	[env.py: 1082]
-05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
-05/10 08:52:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:52:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:52:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:52:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:52:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:52:06 INFO: [Worker 0] Worker 0 house 1 episode 129/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:52:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:52:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:52:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:52:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:52:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.657s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:52:07 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.391[m] 92.809[deg]	[grasp_sample.py: 539]
-05/10 08:52:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:52:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:52:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:52:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:52:15 INFO: [Worker 0] Saved videos eagerly for episode 90 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:52:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 08:52:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:52:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:52:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:52:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:52:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.26s (batch: 4.21s, save: 9.04s)	[pipeline.py: 300]
-05/10 08:52:29 INFO: [Worker 0] [PROFILE] Episode 124 house 1 success=True episode_total=0.70s:
-  episode_total: mean=163.91s, total=327.83s, count=2, min=133729.0ms, max=194098.5ms
-  sensor_polling: mean=474.8ms, total=253.56s, count=534, min=402.1ms, max=907.5ms
-  physics_step: mean=22.7ms, total=12.12s, count=534, min=13.5ms, max=78.3ms
-  save_trajectories: mean=9.04s, total=9.04s, count=1, min=9044.4ms, max=9044.4ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4213.6ms, max=4213.6ms
-  task_sampling: mean=350.2ms, total=700.3ms, count=2, min=320.1ms, max=380.3ms
-  task_specific_sample: mean=346.9ms, total=693.7ms, count=2, min=316.7ms, max=377.0ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.8ms, max=2.2ms
-  mj_forward_sync: mean=368.3us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:52:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:52:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:52:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:52:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:52:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:52:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:52:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:52:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:52:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043110m	[env.py: 870]
-05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:52:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75957587  0.67177852 -0.04311049] yaw=-163.0deg	[env.py: 1019]
-05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00416106  1.15717966 -0.04311049] yaw=-145.5deg	[env.py: 1019]
-05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.870414    1.01575689 -0.04311049] yaw=-149.0deg	[env.py: 1019]
-05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:52:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.6ms, total=115.7ms	[env.py: 1075]
-05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.760, 0.672, -0.043)	[env.py: 1079]
-05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.0 deg	[env.py: 1082]
-05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m	[env.py: 1086]
-05/10 08:52:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:52:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:52:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:52:31 INFO: [Worker 0] Worker 0 house 1 episode 125/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:52:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:52:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:52:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:52:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:52:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.775s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:52:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.553[m] 90.354[deg]	[grasp_sample.py: 539]
-05/10 08:52:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:52:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:52:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:52:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:52:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:52:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:52:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:52:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:52:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:52:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:52:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:52:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:52:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:52:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:52:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:52:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:52:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:52:47 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.556s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:52:47 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.121[deg]	[grasp_sample.py: 539]
-05/10 08:52:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:52:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:52:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:52:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:52:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:53:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:53:05 INFO: [Worker 0] Worker 0 house 1 episode 126 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:53:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:53:29 INFO: [Worker 0] Saved videos eagerly for episode 92 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:53:29 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 08:53:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:53:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:53:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:53:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:53:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:53:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:53:42 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.12s (batch: 4.04s, save: 9.08s)	[pipeline.py: 300]
-05/10 08:53:43 INFO: [Worker 0] [PROFILE] Episode 126 house 1 success=True episode_total=0.46s:
-  episode_total: mean=215.24s, total=215.24s, count=1, min=215243.8ms, max=215243.8ms
-  sensor_polling: mean=473.5ms, total=142.04s, count=300, min=407.2ms, max=771.7ms
-  save_trajectories: mean=9.08s, total=9.08s, count=1, min=9077.2ms, max=9077.2ms
-  physics_step: mean=21.5ms, total=6.45s, count=300, min=14.0ms, max=42.7ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4040.9ms, max=4040.9ms
-  task_sampling: mean=459.7ms, total=459.7ms, count=1, min=459.7ms, max=459.7ms
-  task_specific_sample: mean=456.2ms, total=456.2ms, count=1, min=456.2ms, max=456.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=389.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:53:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:53:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:53:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:53:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:53:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:53:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:53:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:53:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:53:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:53:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005828m	[env.py: 870]
-05/10 08:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:53:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93698089  0.8845856   0.00582807] yaw=-163.5deg	[env.py: 1019]
-05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.143325    1.18577351  0.00582807] yaw=-130.6deg	[env.py: 1019]
-05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.65973661  0.71882701  0.00582807] yaw=-172.6deg	[env.py: 1019]
-05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:53:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=331.5ms, total=331.5ms	[env.py: 1075]
-05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.937, 0.885, 0.006)	[env.py: 1079]
-05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.5 deg	[env.py: 1082]
-05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
-05/10 08:53:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:53:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:53:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:53:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:53:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:53:45 INFO: [Worker 0] Worker 0 house 1 episode 127/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:53:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:53:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:53:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:53:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:53:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:53:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.534s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:53:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.452[m] 92.172[deg]	[grasp_sample.py: 539]
-05/10 08:53:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:53:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:53:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:53:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:53:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:53:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:53:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:53:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:53:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:53:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:53:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:53:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:53:58 INFO: [Worker 0] Worker 0 house 1 episode 131 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:53:58 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.922s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:53:58 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.130[deg]	[grasp_sample.py: 539]
-05/10 08:54:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:54:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:54:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:54:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:54:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:54:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:54:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:54:19 INFO: [Worker 0] Saved videos eagerly for episode 86 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:54:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 08:54:19 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
-05/10 08:54:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:54:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:54:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:54:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:54:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:54:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.82s (batch: 4.28s, save: 10.54s)	[pipeline.py: 300]
-05/10 08:54:35 INFO: [Worker 0] [PROFILE] Episode 131 house 1 success=True episode_total=0.43s:
-  episode_total: mean=180.66s, total=180.66s, count=1, min=180658.6ms, max=180658.6ms
-  sensor_polling: mean=470.5ms, total=133.14s, count=283, min=393.6ms, max=819.7ms
-  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10541.4ms, max=10541.4ms
-  physics_step: mean=21.8ms, total=6.17s, count=283, min=16.6ms, max=72.8ms
-  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4276.9ms, max=4276.9ms
-  task_sampling: mean=431.4ms, total=431.4ms, count=1, min=431.4ms, max=431.4ms
-  task_specific_sample: mean=428.3ms, total=428.3ms, count=1, min=428.3ms, max=428.3ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=379.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:54:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:54:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:54:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:54:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:54:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:54:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:54:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:54:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:54:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006584m	[env.py: 870]
-05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:54:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 126.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.66428152  0.1325123   0.00658373] yaw=162.2deg	[env.py: 1019]
-05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.68010753  0.85527792  0.00658373] yaw=-150.9deg	[env.py: 1019]
-05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89707557  0.84613891  0.00658373] yaw=-151.5deg	[env.py: 1019]
-05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:54:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=431.8ms, total=431.8ms	[env.py: 1075]
-05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.664, 0.133, 0.007)	[env.py: 1079]
-05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.2 deg	[env.py: 1082]
-05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m	[env.py: 1086]
-05/10 08:54:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:54:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:54:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:54:37 INFO: [Worker 0] Worker 0 house 1 episode 132/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:54:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.207s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:54:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:54:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:54:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:54:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.902s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:54:40 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.665[m] 92.993[deg]	[grasp_sample.py: 539]
-05/10 08:54:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:54:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:54:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:54:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:54:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:54:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:54:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:54:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:54:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:54:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:54:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:54:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:54:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:54:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:54:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:54:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:54:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:54:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.459s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:54:55 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.851[deg]	[grasp_sample.py: 539]
-05/10 08:54:56 ERROR: [Worker 0] Worker 0 house 1 episode 129 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 08:54:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:54:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:54:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:54:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:54:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:54:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:54:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:54:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:54:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039383m	[env.py: 870]
-05/10 08:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:54:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95796399  0.97678138  0.03938314] yaw=-135.0deg	[env.py: 1019]
-05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05670138  1.10530948  0.03938314] yaw=-126.0deg	[env.py: 1019]
-05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.11970564  0.95497469  0.03938314] yaw=-136.5deg	[env.py: 1019]
-05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:54:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=296.8ms, total=296.8ms	[env.py: 1075]
-05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.977, 0.039)	[env.py: 1079]
-05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.0 deg	[env.py: 1082]
-05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
-05/10 08:54:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:54:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:54:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:54:58 INFO: [Worker 0] Worker 0 house 1 episode 130/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:54:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:54:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:54:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:54:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:54:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.909s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:54:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.454[m] 87.753[deg]	[grasp_sample.py: 539]
-05/10 08:54:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:54:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:54:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:55:06 INFO: [Worker 0] Worker 0 house 1 episode 125 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:55:30 INFO: [Worker 0] Saved videos eagerly for episode 91 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:55:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 08:55:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:55:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:55:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:55:43 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.92s (batch: 4.50s, save: 8.43s)	[pipeline.py: 300]
-05/10 08:55:44 INFO: [Worker 0] [PROFILE] Episode 125 house 1 success=True episode_total=0.44s:
-  episode_total: mean=193.12s, total=193.12s, count=1, min=193117.4ms, max=193117.4ms
-  sensor_polling: mean=477.5ms, total=143.25s, count=300, min=387.9ms, max=899.9ms
-  save_trajectories: mean=8.43s, total=8.43s, count=1, min=8428.7ms, max=8428.7ms
-  physics_step: mean=22.4ms, total=6.72s, count=300, min=16.4ms, max=107.3ms
-  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4496.2ms, max=4496.2ms
-  task_sampling: mean=436.4ms, total=436.4ms, count=1, min=436.4ms, max=436.4ms
-  task_specific_sample: mean=432.1ms, total=432.1ms, count=1, min=432.1ms, max=432.1ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=505.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:55:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:55:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:55:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:55:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:55:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:55:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:55:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:55:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:55:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:55:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:55:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:55:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028775m	[env.py: 870]
-05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:55:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90651651  0.32437446 -0.02877522] yaw=161.1deg	[env.py: 1019]
-05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99792551  0.17382169 -0.02877522] yaw=151.9deg	[env.py: 1019]
-05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84079486  0.30987408 -0.02877522] yaw=175.8deg	[env.py: 1019]
-05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:55:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=72.8ms, total=72.8ms	[env.py: 1075]
-05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.907, 0.324, -0.029)	[env.py: 1079]
-05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.1 deg	[env.py: 1082]
-05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
-05/10 08:55:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:55:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:55:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:55:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:55:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:55:45 INFO: [Worker 0] Worker 0 house 1 episode 126/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:55:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:55:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:55:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:55:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:55:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.529s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:55:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.390[m] 94.140[deg]	[grasp_sample.py: 539]
-05/10 08:55:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:55:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:55:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:55:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:55:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:55:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:55:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:56:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:56:17 INFO: [Worker 0] Worker 0 house 1 episode 127 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:56:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:56:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:56:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:56:41 INFO: [Worker 0] Saved videos eagerly for episode 93 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:56:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 08:56:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:56:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:56:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:56:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:56:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:56:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:56:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.90s (batch: 4.16s, save: 8.74s)	[pipeline.py: 300]
-05/10 08:56:55 INFO: [Worker 0] [PROFILE] Episode 127 house 1 success=True episode_total=0.62s:
-  episode_total: mean=190.15s, total=190.15s, count=1, min=190147.6ms, max=190147.6ms
-  sensor_polling: mean=471.9ms, total=141.58s, count=300, min=393.3ms, max=871.9ms
-  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8736.0ms, max=8736.0ms
-  physics_step: mean=21.7ms, total=6.51s, count=300, min=15.6ms, max=64.5ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4161.8ms, max=4161.8ms
-  task_sampling: mean=623.1ms, total=623.1ms, count=1, min=623.1ms, max=623.1ms
-  task_specific_sample: mean=619.2ms, total=619.2ms, count=1, min=619.2ms, max=619.2ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=477.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:56:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:56:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:56:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:56:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:56:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:56:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:56:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:56:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:56:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:56:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033526m	[env.py: 870]
-05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:56:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0705149   1.18570399  0.03352597] yaw=-141.8deg	[env.py: 1019]
-05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88110311  0.7584809   0.03352597] yaw=-164.0deg	[env.py: 1019]
-05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08100523  1.17750002  0.03352597] yaw=-121.5deg	[env.py: 1019]
-05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:56:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.4ms, total=124.4ms	[env.py: 1075]
-05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.071, 1.186, 0.034)	[env.py: 1079]
-05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.8 deg	[env.py: 1082]
-05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
-05/10 08:56:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:56:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:56:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:56:57 INFO: [Worker 0] Worker 0 house 1 episode 128/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:56:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.172s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:56:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:56:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:56:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:56:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:57:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:57:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.584s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:57:03 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.558[m] 89.353[deg]	[grasp_sample.py: 539]
-05/10 08:57:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:57:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:57:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:57:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:57:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:57:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:57:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:57:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:57:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:57:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 72 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:57:06 INFO: [Worker 0] Feasibility-checked 72 grasps in 0.462s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:57:06 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.023[m] 2.226[deg]	[grasp_sample.py: 539]
-05/10 08:57:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:57:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:57:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:57:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:57:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:57:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:57:26 INFO: [Worker 0] Worker 0 house 1 episode 132 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 08:57:26 INFO: [Worker 0] [PROFILE] Episode 132 house 1 success=False episode_total=0.73s:
-  episode_total: mean=169.26s, total=169.26s, count=1, min=169262.5ms, max=169262.5ms
-  sensor_polling: mean=472.1ms, total=141.62s, count=300, min=406.3ms, max=793.7ms
-  physics_step: mean=21.0ms, total=6.29s, count=300, min=13.1ms, max=49.0ms
-  task_sampling: mean=729.6ms, total=729.6ms, count=1, min=729.6ms, max=729.6ms
-  task_specific_sample: mean=725.7ms, total=725.7ms, count=1, min=725.7ms, max=725.7ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=540.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:57:27 INFO: [Worker 0] Worker 0 house 1 episode 130 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:57:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:57:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:57:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:57:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:57:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:57:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:57:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008702m	[env.py: 870]
-05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:57:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71937208  0.73251729 -0.00870156] yaw=-163.7deg	[env.py: 1019]
-05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79687085  0.67638663 -0.00870156] yaw=-157.7deg	[env.py: 1019]
-05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96522378  0.74506292 -0.00870156] yaw=-162.3deg	[env.py: 1019]
-05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:57:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=254.2ms, total=254.2ms	[env.py: 1075]
-05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.719, 0.733, -0.009)	[env.py: 1079]
-05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.7 deg	[env.py: 1082]
-05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
-05/10 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:57:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:57:28 INFO: [Worker 0] Worker 0 house 1 episode 133/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:57:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:57:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:57:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:57:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:57:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.284s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:57:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.552[m] 84.300[deg]	[grasp_sample.py: 539]
-05/10 08:57:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:57:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:57:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:57:53 INFO: [Worker 0] Saved videos eagerly for episode 95 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:57:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 08:57:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:57:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:58:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:58:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:58:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:58:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.71s (batch: 4.05s, save: 11.66s)	[pipeline.py: 300]
-05/10 08:58:10 INFO: [Worker 0] [PROFILE] Episode 130 house 1 success=True episode_total=1.12s:
-  episode_total: mean=181.54s, total=363.09s, count=2, min=170471.3ms, max=192614.2ms
-  sensor_polling: mean=472.0ms, total=259.14s, count=549, min=387.9ms, max=871.4ms
-  physics_step: mean=21.9ms, total=12.05s, count=549, min=12.9ms, max=96.6ms
-  save_trajectories: mean=11.66s, total=11.66s, count=1, min=11662.5ms, max=11662.5ms
-  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4050.4ms, max=4050.4ms
-  task_sampling: mean=559.8ms, total=1.12s, count=2, min=525.1ms, max=594.4ms
-  task_specific_sample: mean=556.1ms, total=1.11s, count=2, min=522.1ms, max=590.1ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.4ms, max=2.9ms
-  mj_forward_sync: mean=468.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:58:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:58:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:58:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:58:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:58:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:58:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:58:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:58:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:58:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023828m	[env.py: 870]
-05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:58:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79188784  0.10036035 -0.02382793] yaw=157.2deg	[env.py: 1019]
-05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:58:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=404.9ms, total=404.9ms	[env.py: 1075]
-05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.792, 0.100, -0.024)	[env.py: 1079]
-05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.2 deg	[env.py: 1082]
-05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
-05/10 08:58:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:58:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:58:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:58:13 INFO: [Worker 0] Worker 0 house 1 episode 131/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:58:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:58:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:58:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:58:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:58:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:58:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.407s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:58:15 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.563[m] 97.464[deg]	[grasp_sample.py: 539]
-05/10 08:58:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:58:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:58:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:58:21 INFO: [Worker 0] Worker 0 house 1 episode 126 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:58:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:58:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:58:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:58:46 INFO: [Worker 0] Saved videos eagerly for episode 92 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 08:58:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 08:58:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 08:58:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:58:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 08:58:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 08:58:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.09s (batch: 3.90s, save: 8.20s)	[pipeline.py: 300]
-05/10 08:58:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:58:59 INFO: [Worker 0] [PROFILE] Episode 126 house 1 success=True episode_total=0.33s:
-  episode_total: mean=194.20s, total=194.20s, count=1, min=194200.0ms, max=194200.0ms
-  sensor_polling: mean=479.5ms, total=143.84s, count=300, min=407.1ms, max=794.4ms
-  save_trajectories: mean=8.20s, total=8.20s, count=1, min=8195.8ms, max=8195.8ms
-  physics_step: mean=23.8ms, total=7.14s, count=300, min=13.8ms, max=76.1ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3897.3ms, max=3897.3ms
-  task_sampling: mean=331.4ms, total=331.4ms, count=1, min=331.4ms, max=331.4ms
-  task_specific_sample: mean=328.3ms, total=328.3ms, count=1, min=328.3ms, max=328.3ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=374.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 08:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:59:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 08:59:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 08:59:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 08:59:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:59:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:59:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:59:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:59:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 08:59:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 08:59:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 08:59:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009093m	[env.py: 870]
-05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 08:59:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79515076  0.35246022 -0.00909308] yaw=168.9deg	[env.py: 1019]
-05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90748638  0.15956159 -0.00909308] yaw=167.7deg	[env.py: 1019]
-05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70407588  0.71273212 -0.00909308] yaw=-171.3deg	[env.py: 1019]
-05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 08:59:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.6ms, total=120.6ms	[env.py: 1075]
-05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.795, 0.352, -0.009)	[env.py: 1079]
-05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.9 deg	[env.py: 1082]
-05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
-05/10 08:59:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 08:59:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 08:59:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 08:59:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 08:59:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 08:59:02 INFO: [Worker 0] Worker 0 house 1 episode 127/240 collected=0/40	[pipeline.py: 1044]
-05/10 08:59:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s	[base_object_manipulation_planner_policy.py: 377]
-05/10 08:59:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:59:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:59:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.206s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:59:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.578s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:59:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.457[m] 89.092[deg]	[grasp_sample.py: 539]
-05/10 08:59:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:59:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:59:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:59:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:59:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:59:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:59:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:59:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:59:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 08:59:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 08:59:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 08:59:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 08:59:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 08:59:11 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.472s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 08:59:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.558[deg]	[grasp_sample.py: 539]
-05/10 08:59:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 08:59:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 08:59:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:59:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:59:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:59:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:59:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:59:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 08:59:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:59:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:59:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 08:59:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:59:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:59:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:59:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 08:59:55 INFO: [Worker 0] Worker 0 house 1 episode 128 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 08:59:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:00:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:00:03 INFO: [Worker 0] Worker 0 house 1 episode 133 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:00:20 INFO: [Worker 0] Saved videos eagerly for episode 94 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:00:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 09:00:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:00:25 INFO: [Worker 0] Saved videos eagerly for episode 87 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:00:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 09:00:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:00:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:00:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:00:32 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.81s (batch: 4.03s, save: 7.79s)	[pipeline.py: 300]
-05/10 09:00:33 INFO: [Worker 0] [PROFILE] Episode 128 house 1 success=True episode_total=0.48s:
-  episode_total: mean=215.85s, total=215.85s, count=1, min=215847.5ms, max=215847.5ms
-  sensor_polling: mean=471.2ms, total=141.37s, count=300, min=404.8ms, max=812.5ms
-  save_trajectories: mean=7.79s, total=7.79s, count=1, min=7788.0ms, max=7788.0ms
-  physics_step: mean=21.8ms, total=6.53s, count=300, min=13.8ms, max=53.3ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4025.4ms, max=4025.4ms
-  task_sampling: mean=483.3ms, total=483.3ms, count=1, min=483.3ms, max=483.3ms
-  task_specific_sample: mean=479.0ms, total=479.0ms, count=1, min=479.0ms, max=479.0ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=489.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:00:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:00:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:00:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:00:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:00:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:00:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:00:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:00:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:00:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.016754m	[env.py: 870]
-05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:00:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81144132  0.40413814 -0.01675442] yaw=171.0deg	[env.py: 1019]
-05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72468813  0.85308286 -0.01675442] yaw=-156.4deg	[env.py: 1019]
-05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97499574  0.14260108 -0.01675442] yaw=158.2deg	[env.py: 1019]
-05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:00:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.6ms, total=148.6ms	[env.py: 1075]
-05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.811, 0.404, -0.017)	[env.py: 1079]
-05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.0 deg	[env.py: 1082]
-05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
-05/10 09:00:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:00:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:00:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:00:35 INFO: [Worker 0] Worker 0 house 1 episode 129/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:00:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:00:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:00:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:00:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:00:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:00:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.451[m] 90.209[deg]	[grasp_sample.py: 539]
-05/10 09:00:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:00:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:00:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:00:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:00:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:00:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.27s (batch: 3.77s, save: 8.50s)	[pipeline.py: 300]
-05/10 09:00:39 INFO: [Worker 0] [PROFILE] Episode 133 house 1 success=True episode_total=0.51s:
-  episode_total: mean=190.95s, total=190.95s, count=1, min=190950.6ms, max=190950.6ms
-  sensor_polling: mean=470.1ms, total=141.04s, count=300, min=399.9ms, max=835.1ms
-  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8500.7ms, max=8500.7ms
-  physics_step: mean=22.0ms, total=6.61s, count=300, min=16.6ms, max=45.8ms
-  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3765.6ms, max=3765.6ms
-  task_sampling: mean=506.7ms, total=506.7ms, count=1, min=506.7ms, max=506.7ms
-  task_specific_sample: mean=503.0ms, total=503.0ms, count=1, min=503.0ms, max=503.0ms
-  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
-  mj_forward_sync: mean=464.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:00:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:00:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:00:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:00:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:00:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:00:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:00:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015798m	[env.py: 870]
-05/10 09:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:00:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8485024   0.65485425  0.015798  ] yaw=-159.1deg	[env.py: 1019]
-05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64775215  0.49445487  0.015798  ] yaw=-175.1deg	[env.py: 1019]
-05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99647934  0.96034606  0.015798  ] yaw=-146.1deg	[env.py: 1019]
-05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:00:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=228.9ms, total=228.9ms	[env.py: 1075]
-05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.849, 0.655, 0.016)	[env.py: 1079]
-05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.1 deg	[env.py: 1082]
-05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
-05/10 09:00:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:00:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:00:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:00:41 INFO: [Worker 0] Worker 0 house 1 episode 134/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:00:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:00:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:00:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:00:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:00:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.469s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:00:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.441[m] 85.206[deg]	[grasp_sample.py: 539]
-05/10 09:00:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:00:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:00:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:00:47 INFO: [Worker 0] Worker 0 house 1 episode 131 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:01:12 INFO: [Worker 0] Saved videos eagerly for episode 96 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:01:12 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 09:01:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:01:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:01:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:01:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:01:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:01:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.12s (batch: 4.63s, save: 10.49s)	[pipeline.py: 300]
-05/10 09:01:28 INFO: [Worker 0] [PROFILE] Episode 131 house 1 success=True episode_total=0.68s:
-  episode_total: mean=195.60s, total=195.60s, count=1, min=195604.1ms, max=195604.1ms
-  sensor_polling: mean=471.6ms, total=141.47s, count=300, min=382.0ms, max=876.0ms
-  save_trajectories: mean=10.49s, total=10.49s, count=1, min=10493.1ms, max=10493.1ms
-  physics_step: mean=22.9ms, total=6.88s, count=300, min=14.2ms, max=47.8ms
-  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4627.7ms, max=4627.7ms
-  task_sampling: mean=675.4ms, total=675.4ms, count=1, min=675.4ms, max=675.4ms
-  task_specific_sample: mean=671.5ms, total=671.5ms, count=1, min=671.5ms, max=671.5ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=456.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:01:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:01:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:01:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:01:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:01:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:01:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:01:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:01:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:01:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:01:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:01:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035636m	[env.py: 870]
-05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:01:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75203411  0.31935683  0.03563552] yaw=160.1deg	[env.py: 1019]
-05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70514587  0.31352012  0.03563552] yaw=171.7deg	[env.py: 1019]
-05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97236534  1.10606046  0.03563552] yaw=-140.4deg	[env.py: 1019]
-05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:01:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.1ms, total=69.2ms	[env.py: 1075]
-05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.752, 0.319, 0.036)	[env.py: 1079]
-05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.1 deg	[env.py: 1082]
-05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
-05/10 09:01:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:01:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:01:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:01:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:01:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:01:30 INFO: [Worker 0] Worker 0 house 1 episode 132/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:01:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:01:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:01:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:01:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:01:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.567s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:01:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.523[m] 87.180[deg]	[grasp_sample.py: 539]
-05/10 09:01:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:01:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:01:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:01:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:01:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:01:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:01:39 INFO: [Worker 0] Worker 0 house 1 episode 127 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:01:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:02:03 INFO: [Worker 0] Saved videos eagerly for episode 93 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:02:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 09:02:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:02:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:02:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:02:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.31s (batch: 3.83s, save: 7.48s)	[pipeline.py: 300]
-05/10 09:02:15 INFO: [Worker 0] [PROFILE] Episode 127 house 1 success=True episode_total=0.40s:
-  episode_total: mean=193.40s, total=193.40s, count=1, min=193402.2ms, max=193402.2ms
-  sensor_polling: mean=473.7ms, total=142.12s, count=300, min=388.3ms, max=976.7ms
-  save_trajectories: mean=7.48s, total=7.48s, count=1, min=7481.0ms, max=7481.0ms
-  physics_step: mean=23.1ms, total=6.92s, count=300, min=16.5ms, max=84.0ms
-  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3828.3ms, max=3828.3ms
-  task_sampling: mean=398.3ms, total=398.3ms, count=1, min=398.3ms, max=398.3ms
-  task_specific_sample: mean=393.8ms, total=393.8ms, count=1, min=393.8ms, max=393.8ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=548.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:02:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:02:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:02:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:02:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:02:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:02:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:02:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:02:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:02:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045114m	[env.py: 870]
-05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:02:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68479395  0.33297847 -0.04511374] yaw=170.7deg	[env.py: 1019]
-05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13322217  0.89920085 -0.04511374] yaw=-155.1deg	[env.py: 1019]
-05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92424657  0.96518468 -0.04511374] yaw=-151.1deg	[env.py: 1019]
-05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:02:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.6ms, total=132.6ms	[env.py: 1075]
-05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.685, 0.333, -0.045)	[env.py: 1079]
-05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.7 deg	[env.py: 1082]
-05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
-05/10 09:02:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:02:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:02:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:02:17 INFO: [Worker 0] Worker 0 house 1 episode 128/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:02:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:02:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:02:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:02:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:02:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.482s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:02:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.633[m] 102.142[deg]	[grasp_sample.py: 539]
-05/10 09:02:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:02:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:02:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:02:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:02:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:02:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:03:06 INFO: [Worker 0] Worker 0 house 1 episode 129 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:03:12 INFO: [Worker 0] Worker 0 house 1 episode 134 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:03:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:03:32 INFO: [Worker 0] Saved videos eagerly for episode 95 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:03:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 09:03:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:03:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:03:38 INFO: [Worker 0] Saved videos eagerly for episode 88 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:03:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 09:03:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:03:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:03:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:03:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:03:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.35s (batch: 4.25s, save: 11.10s)	[pipeline.py: 300]
-05/10 09:03:48 INFO: [Worker 0] [PROFILE] Episode 129 house 1 success=True episode_total=0.40s:
-  episode_total: mean=193.81s, total=193.81s, count=1, min=193811.4ms, max=193811.4ms
-  sensor_polling: mean=470.3ms, total=141.09s, count=300, min=403.0ms, max=1000.7ms
-  save_trajectories: mean=11.10s, total=11.10s, count=1, min=11103.9ms, max=11103.9ms
-  physics_step: mean=23.0ms, total=6.90s, count=300, min=15.7ms, max=52.0ms
-  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4248.9ms, max=4248.9ms
-  task_sampling: mean=398.1ms, total=398.1ms, count=1, min=398.1ms, max=398.1ms
-  task_specific_sample: mean=394.5ms, total=394.5ms, count=1, min=394.5ms, max=394.5ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=392.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:03:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:03:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:03:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:03:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:03:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:03:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:03:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:03:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:03:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023025m	[env.py: 870]
-05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:03:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06835638  0.94279654  0.0230253 ] yaw=-144.6deg	[env.py: 1019]
-05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96101686  0.31459322  0.0230253 ] yaw=167.5deg	[env.py: 1019]
-05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81080618  0.10301021  0.0230253 ] yaw=152.4deg	[env.py: 1019]
-05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:03:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.1ms, total=123.1ms	[env.py: 1075]
-05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.068, 0.943, 0.023)	[env.py: 1079]
-05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.6 deg	[env.py: 1082]
-05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.784m	[env.py: 1086]
-05/10 09:03:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:03:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:03:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:03:50 INFO: [Worker 0] Worker 0 house 1 episode 130/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:03:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:03:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:03:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:03:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:03:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.676s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:03:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.375[m] 91.353[deg]	[grasp_sample.py: 539]
-05/10 09:03:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:03:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:03:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:03:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:03:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:03:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.34s (batch: 4.53s, save: 10.81s)	[pipeline.py: 300]
-05/10 09:03:54 INFO: [Worker 0] [PROFILE] Episode 134 house 1 success=True episode_total=0.50s:
-  episode_total: mean=193.26s, total=193.26s, count=1, min=193258.0ms, max=193258.0ms
-  sensor_polling: mean=464.9ms, total=139.46s, count=300, min=397.0ms, max=882.9ms
-  save_trajectories: mean=10.81s, total=10.81s, count=1, min=10805.3ms, max=10805.3ms
-  physics_step: mean=21.0ms, total=6.31s, count=300, min=16.6ms, max=48.7ms
-  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4530.3ms, max=4530.3ms
-  task_sampling: mean=499.0ms, total=499.0ms, count=1, min=499.0ms, max=499.0ms
-  task_specific_sample: mean=494.7ms, total=494.7ms, count=1, min=494.7ms, max=494.7ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=531.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:03:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:03:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:03:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:03:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:03:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:03:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:03:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:03:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:03:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:03:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:03:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041383m	[env.py: 870]
-05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:03:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0073196   1.30082296  0.0413827 ] yaw=-141.0deg	[env.py: 1019]
-05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75626458  0.20493627  0.0413827 ] yaw=156.0deg	[env.py: 1019]
-05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98246845  0.44313282  0.0413827 ] yaw=181.9deg	[env.py: 1019]
-05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:03:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.2ms, total=157.2ms	[env.py: 1075]
-05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.007, 1.301, 0.041)	[env.py: 1079]
-05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg	[env.py: 1082]
-05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
-05/10 09:03:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:03:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:03:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:03:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:03:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:03:56 INFO: [Worker 0] Worker 0 house 1 episode 135/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:03:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:03:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:03:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:03:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:03:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.458s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 09:03:57 ERROR: [Worker 0] Worker 0 house 1 episode 135 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 09:03:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:03:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:03:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:03:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:03:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:03:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:03:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:03:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:03:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045556m	[env.py: 870]
-05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:03:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92613696  0.85722551 -0.04555625] yaw=-146.7deg	[env.py: 1019]
-05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15274555  1.0976512  -0.04555625] yaw=-136.9deg	[env.py: 1019]
-05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92296196  0.97050642 -0.04555625] yaw=-146.5deg	[env.py: 1019]
-05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:03:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.6ms, total=131.6ms	[env.py: 1075]
-05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.857, -0.046)	[env.py: 1079]
-05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.7 deg	[env.py: 1082]
-05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m	[env.py: 1086]
-05/10 09:03:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:03:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:03:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:03:59 INFO: [Worker 0] Worker 0 house 1 episode 136/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:03:59 INFO: [Worker 0] Worker 0 house 1 episode 132 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:03:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:03:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:03:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:03:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:04:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.485s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:04:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.462[m] 92.242[deg]	[grasp_sample.py: 539]
-05/10 09:04:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:04:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:04:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:04:26 INFO: [Worker 0] Saved videos eagerly for episode 97 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:04:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 09:04:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:04:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:04:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:04:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:04:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:04:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.41s (batch: 4.78s, save: 9.64s)	[pipeline.py: 300]
-05/10 09:04:41 INFO: [Worker 0] [PROFILE] Episode 132 house 1 success=True episode_total=0.36s:
-  episode_total: mean=191.46s, total=191.46s, count=1, min=191462.6ms, max=191462.6ms
-  sensor_polling: mean=461.7ms, total=138.52s, count=300, min=395.3ms, max=817.7ms
-  save_trajectories: mean=9.64s, total=9.64s, count=1, min=9635.2ms, max=9635.2ms
-  physics_step: mean=23.3ms, total=6.99s, count=300, min=13.8ms, max=52.2ms
-  save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4777.4ms, max=4777.4ms
-  task_sampling: mean=355.4ms, total=355.4ms, count=1, min=355.4ms, max=355.4ms
-  task_specific_sample: mean=351.0ms, total=351.0ms, count=1, min=351.0ms, max=351.0ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=529.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:04:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:04:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:04:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:04:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:04:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:04:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:04:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:04:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:04:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:04:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:04:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:04:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035482m	[env.py: 870]
-05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:04:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 134.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84129601  0.30252382 -0.03548195] yaw=174.5deg	[env.py: 1019]
-05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83408108  0.36353014 -0.03548195] yaw=175.7deg	[env.py: 1019]
-05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75057912  0.42426268 -0.03548195] yaw=172.8deg	[env.py: 1019]
-05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:04:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=251.4ms, total=251.4ms	[env.py: 1075]
-05/10 09:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.303, -0.035)	[env.py: 1079]
-05/10 09:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.5 deg	[env.py: 1082]
-05/10 09:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
-05/10 09:04:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:04:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:04:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:04:43 INFO: [Worker 0] Worker 0 house 1 episode 133/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:04:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:04:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:04:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:04:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:04:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.426s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:04:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.462[m] 95.957[deg]	[grasp_sample.py: 539]
-05/10 09:04:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:04:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:04:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:04:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:04:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:04:56 INFO: [Worker 0] Worker 0 house 1 episode 128 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:05:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:05:21 INFO: [Worker 0] Saved videos eagerly for episode 94 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:05:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 09:05:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:05:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:05:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:05:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:05:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.85s (batch: 4.50s, save: 8.35s)	[pipeline.py: 300]
-05/10 09:05:35 INFO: [Worker 0] [PROFILE] Episode 128 house 1 success=True episode_total=0.42s:
-  episode_total: mean=198.59s, total=198.59s, count=1, min=198591.6ms, max=198591.6ms
-  sensor_polling: mean=472.4ms, total=141.73s, count=300, min=391.7ms, max=825.8ms
-  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8353.2ms, max=8353.2ms
-  physics_step: mean=22.6ms, total=6.78s, count=300, min=16.3ms, max=45.5ms
-  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4496.5ms, max=4496.5ms
-  task_sampling: mean=417.8ms, total=417.8ms, count=1, min=417.8ms, max=417.8ms
-  task_specific_sample: mean=414.3ms, total=414.3ms, count=1, min=414.3ms, max=414.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=372.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:05:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:05:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:05:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:05:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:05:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:05:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:05:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:05:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:05:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030267m	[env.py: 870]
-05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:05:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76283707  0.44767427  0.03026713] yaw=166.8deg	[env.py: 1019]
-05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77027253  0.31892801  0.03026713] yaw=176.9deg	[env.py: 1019]
-05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86612814  0.3101288   0.03026713] yaw=157.5deg	[env.py: 1019]
-05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:05:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.5ms, total=176.5ms	[env.py: 1075]
-05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.763, 0.448, 0.030)	[env.py: 1079]
-05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.8 deg	[env.py: 1082]
-05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
-05/10 09:05:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:05:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:05:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:05:37 INFO: [Worker 0] Worker 0 house 1 episode 129/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:05:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:05:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:05:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:05:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:05:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.444s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:05:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.485[m] 82.305[deg]	[grasp_sample.py: 539]
-05/10 09:05:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:05:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:05:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:05:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:05:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:06:20 INFO: [Worker 0] Worker 0 house 1 episode 130 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:06:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:06:28 INFO: [Worker 0] Worker 0 house 1 episode 136 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:06:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:06:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:06:40 INFO: [Worker 0] Saved videos eagerly for episode 96 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:06:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 09:06:40 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
-05/10 09:06:50 INFO: [Worker 0] Saved videos eagerly for episode 89 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:06:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 09:06:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:06:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:06:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:06:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.35s (batch: 4.01s, save: 9.34s)	[pipeline.py: 300]
-05/10 09:06:54 INFO: [Worker 0] [PROFILE] Episode 130 house 1 success=True episode_total=0.43s:
-  episode_total: mean=184.10s, total=184.10s, count=1, min=184104.7ms, max=184104.7ms
-  sensor_polling: mean=467.6ms, total=138.40s, count=296, min=394.6ms, max=911.1ms
-  save_trajectories: mean=9.34s, total=9.34s, count=1, min=9342.2ms, max=9342.2ms
-  physics_step: mean=22.1ms, total=6.53s, count=296, min=16.9ms, max=71.9ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4005.2ms, max=4005.2ms
-  task_sampling: mean=426.0ms, total=426.0ms, count=1, min=426.0ms, max=426.0ms
-  task_specific_sample: mean=421.5ms, total=421.5ms, count=1, min=421.5ms, max=421.5ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=530.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:06:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:06:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:06:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:06:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:06:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:06:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:06:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045375m	[env.py: 870]
-05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:06:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81386176  0.71470497 -0.04537484] yaw=-173.9deg	[env.py: 1019]
-05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8989912   1.21119187 -0.04537484] yaw=-140.4deg	[env.py: 1019]
-05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83370813  1.00670055 -0.04537484] yaw=-153.2deg	[env.py: 1019]
-05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:06:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.8ms, total=146.8ms	[env.py: 1075]
-05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.814, 0.715, -0.045)	[env.py: 1079]
-05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.9 deg	[env.py: 1082]
-05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
-05/10 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:06:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:06:56 INFO: [Worker 0] Worker 0 house 1 episode 131/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:06:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:06:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:06:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:06:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:06:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.544s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:06:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.484[m] 90.415[deg]	[grasp_sample.py: 539]
-05/10 09:06:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:06:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:06:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:07:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:07:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:07:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.28s (batch: 4.25s, save: 9.03s)	[pipeline.py: 300]
-05/10 09:07:04 INFO: [Worker 0] [PROFILE] Episode 136 house 1 success=True episode_total=0.81s:
-  episode_total: mean=93.79s, total=187.58s, count=2, min=2067.1ms, max=185512.9ms
-  sensor_polling: mean=462.0ms, total=138.61s, count=300, min=391.7ms, max=844.2ms
-  save_trajectories: mean=9.03s, total=9.03s, count=1, min=9025.2ms, max=9025.2ms
-  physics_step: mean=21.8ms, total=6.54s, count=300, min=16.5ms, max=68.0ms
-  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4252.9ms, max=4252.9ms
-  task_sampling: mean=405.9ms, total=811.7ms, count=2, min=358.0ms, max=453.8ms
-  task_specific_sample: mean=402.5ms, total=805.0ms, count=2, min=354.7ms, max=450.3ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.3ms, max=2.3ms
-  mj_forward_sync: mean=442.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:07:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:07:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:07:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:07:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:07:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:07:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:07:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:07:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:07:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:07:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:07:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025710m	[env.py: 870]
-05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:07:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97833018  1.13239352  0.02570993] yaw=-127.6deg	[env.py: 1019]
-05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83923237  0.72034823  0.02570993] yaw=-155.7deg	[env.py: 1019]
-05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9942642   0.32867395  0.02570993] yaw=173.9deg	[env.py: 1019]
-05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:07:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.2ms, total=152.2ms	[env.py: 1075]
-05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.978, 1.132, 0.026)	[env.py: 1079]
-05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.6 deg	[env.py: 1082]
-05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
-05/10 09:07:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:07:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:07:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:07:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:07:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:07:06 INFO: [Worker 0] Worker 0 house 1 episode 137/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:07:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:07:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:07:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:07:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:07:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.165s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:07:11 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.537[m] 88.376[deg]	[grasp_sample.py: 539]
-05/10 09:07:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:07:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:07:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:07:14 INFO: [Worker 0] Worker 0 house 1 episode 133 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:07:40 INFO: [Worker 0] Saved videos eagerly for episode 98 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:07:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 09:07:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:07:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:07:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:07:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:07:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:07:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:07:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:07:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:07:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:07:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:07:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:07:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.68s (batch: 4.55s, save: 11.12s)	[pipeline.py: 300]
-05/10 09:07:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:07:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:07:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:07:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:07:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:07:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:07:56 INFO: [Worker 0] [PROFILE] Episode 133 house 1 success=True episode_total=0.51s:
-  episode_total: mean=194.13s, total=194.13s, count=1, min=194127.0ms, max=194127.0ms
-  sensor_polling: mean=466.2ms, total=139.87s, count=300, min=396.8ms, max=863.4ms
-  save_trajectories: mean=11.12s, total=11.12s, count=1, min=11120.8ms, max=11120.8ms
-  physics_step: mean=23.2ms, total=6.97s, count=300, min=14.2ms, max=67.8ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4554.7ms, max=4554.7ms
-  task_sampling: mean=505.4ms, total=505.4ms, count=1, min=505.4ms, max=505.4ms
-  task_specific_sample: mean=501.1ms, total=501.1ms, count=1, min=501.1ms, max=501.1ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=534.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:07:57 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:07:57 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.388[deg]	[grasp_sample.py: 539]
-05/10 09:07:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:07:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:07:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:07:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:07:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:07:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:07:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:07:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:07:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:07:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:07:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:07:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:07:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:07:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:07:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046520m	[env.py: 870]
-05/10 09:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:07:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90677122  1.19798566 -0.04651976] yaw=-140.1deg	[env.py: 1019]
-05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78163581  0.67258513 -0.04651976] yaw=-175.1deg	[env.py: 1019]
-05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98145442  0.43186018 -0.04651976] yaw=174.4deg	[env.py: 1019]
-05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:07:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=367.1ms, total=367.2ms	[env.py: 1075]
-05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.907, 1.198, -0.047)	[env.py: 1079]
-05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.1 deg	[env.py: 1082]
-05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m	[env.py: 1086]
-05/10 09:07:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:07:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:07:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:07:59 INFO: [Worker 0] Worker 0 house 1 episode 134/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:07:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:07:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:07:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:07:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:08:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:08:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.071s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:08:04 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.635[m] 90.015[deg]	[grasp_sample.py: 539]
-05/10 09:08:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:08:06 ERROR: [Worker 0] Worker 0 house 1 episode 134 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 09:08:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:08:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:08:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:08:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:08:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:08:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:08:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:08:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017614m	[env.py: 870]
-05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:08:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72133279  0.96734597 -0.01761417] yaw=-151.8deg	[env.py: 1019]
-05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65431077  0.31083452 -0.01761417] yaw=178.6deg	[env.py: 1019]
-05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7929822   0.78701001 -0.01761417] yaw=-169.9deg	[env.py: 1019]
-05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:08:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.8ms, total=127.8ms	[env.py: 1075]
-05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.721, 0.967, -0.018)	[env.py: 1079]
-05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.8 deg	[env.py: 1082]
-05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m	[env.py: 1086]
-05/10 09:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:08:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:08:08 INFO: [Worker 0] Worker 0 house 1 episode 135/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:08:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:08:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:08:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:08:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:08:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.563s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:08:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.656[m] 87.874[deg]	[grasp_sample.py: 539]
-05/10 09:08:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:08:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:08:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:08:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:08:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:08:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:08:21 INFO: [Worker 0] Worker 0 house 1 episode 129 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:08:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:08:48 INFO: [Worker 0] Saved videos eagerly for episode 95 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:08:48 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 09:08:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:09:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:09:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:09:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.39s (batch: 4.69s, save: 10.69s)	[pipeline.py: 300]
-05/10 09:09:05 INFO: [Worker 0] [PROFILE] Episode 129 house 1 success=True episode_total=0.46s:
-  episode_total: mean=208.25s, total=208.25s, count=1, min=208248.6ms, max=208248.6ms
-  sensor_polling: mean=473.1ms, total=141.93s, count=300, min=394.3ms, max=866.9ms
-  save_trajectories: mean=10.69s, total=10.69s, count=1, min=10694.5ms, max=10694.5ms
-  physics_step: mean=23.3ms, total=6.99s, count=300, min=13.2ms, max=59.9ms
-  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4694.3ms, max=4694.3ms
-  task_sampling: mean=463.0ms, total=463.0ms, count=1, min=463.0ms, max=463.0ms
-  task_specific_sample: mean=459.6ms, total=459.6ms, count=1, min=459.6ms, max=459.6ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=371.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:09:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:09:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:09:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:09:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:09:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:09:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:09:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030336m	[env.py: 870]
-05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:09:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10911953  1.17316608  0.03033619] yaw=-140.8deg	[env.py: 1019]
-05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 127.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07711805  0.89731855  0.03033619] yaw=-141.6deg	[env.py: 1019]
-05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.65597808  0.71998371  0.03033619] yaw=-161.9deg	[env.py: 1019]
-05/10 09:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:09:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=239.2ms, total=239.2ms	[env.py: 1075]
-05/10 09:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.109, 1.173, 0.030)	[env.py: 1079]
-05/10 09:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.8 deg	[env.py: 1082]
-05/10 09:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
-05/10 09:09:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:09:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:09:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:09:07 INFO: [Worker 0] Worker 0 house 1 episode 130/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:09:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:09:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:09:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:09:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:09:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.639s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:09:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.478[m] 80.287[deg]	[grasp_sample.py: 539]
-05/10 09:09:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:09:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:09:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:09:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:09:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:09:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:09:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:09:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:09:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:09:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:09:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:09:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:09:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:09:50 INFO: [Worker 0] Worker 0 house 1 episode 131 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:09:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:09:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:09:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:09:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:09:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:09:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:09:56 INFO: [Worker 0] Feasibility-checked 80 grasps in 4.364s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:09:56 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.220[m] 2.913[deg]	[grasp_sample.py: 539]
-05/10 09:09:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:09:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:09:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:10:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:10:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:10:21 INFO: [Worker 0] Saved videos eagerly for episode 97 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:10:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 09:10:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:10:23 INFO: [Worker 0] Worker 0 house 1 episode 137 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:10:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:10:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:10:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:10:36 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.02s (batch: 4.91s, save: 10.11s)	[pipeline.py: 300]
-05/10 09:10:37 INFO: [Worker 0] [PROFILE] Episode 131 house 1 success=True episode_total=0.42s:
-  episode_total: mean=221.45s, total=221.45s, count=1, min=221451.0ms, max=221451.0ms
-  sensor_polling: mean=539.3ms, total=161.78s, count=300, min=400.2ms, max=1003.7ms
-  save_trajectories: mean=10.11s, total=10.11s, count=1, min=10111.4ms, max=10111.4ms
-  physics_step: mean=26.7ms, total=8.00s, count=300, min=13.6ms, max=96.8ms
-  save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4906.1ms, max=4906.1ms
-  task_sampling: mean=417.7ms, total=417.7ms, count=1, min=417.7ms, max=417.7ms
-  task_specific_sample: mean=414.3ms, total=414.3ms, count=1, min=414.3ms, max=414.3ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=392.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:10:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:10:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:10:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:10:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:10:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:10:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:10:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:10:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:10:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.000m, effective arm-mount z=0.860m (base_body_z=-0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000390m	[env.py: 870]
-05/10 09:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:10:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-8.67455418e-01  1.08339161e+00 -3.89945394e-04] yaw=-144.8deg	[env.py: 1019]
-05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 123.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-8.99706260e-01  4.40656346e-01 -3.89945394e-04] yaw=176.2deg	[env.py: 1019]
-05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-9.93572929e-01  6.38346681e-01 -3.89945394e-04] yaw=-160.0deg	[env.py: 1019]
-05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:10:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=516.5ms, total=516.5ms	[env.py: 1075]
-05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.867, 1.083, -0.000)	[env.py: 1079]
-05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.8 deg	[env.py: 1082]
-05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
-05/10 09:10:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:10:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:10:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:10:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:10:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:10:40 INFO: [Worker 0] Worker 0 house 1 episode 132/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:10:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.174s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:10:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:10:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:10:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:10:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.075s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:10:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.598[m] 84.625[deg]	[grasp_sample.py: 539]
-05/10 09:10:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:10:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:10:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:10:53 INFO: [Worker 0] Saved videos eagerly for episode 90 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:10:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 09:10:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:11:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:11:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:11:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.50s (batch: 5.43s, save: 10.07s)	[pipeline.py: 300]
-05/10 09:11:09 INFO: [Worker 0] [PROFILE] Episode 137 house 1 success=True episode_total=0.42s:
-  episode_total: mean=243.44s, total=243.44s, count=1, min=243444.8ms, max=243444.8ms
-  sensor_polling: mean=541.4ms, total=162.42s, count=300, min=392.5ms, max=966.0ms
-  save_trajectories: mean=10.07s, total=10.07s, count=1, min=10071.6ms, max=10071.6ms
-  physics_step: mean=25.4ms, total=7.62s, count=300, min=13.3ms, max=68.9ms
-  save_batch_prep: mean=5.43s, total=5.43s, count=1, min=5430.6ms, max=5430.6ms
-  task_sampling: mean=415.6ms, total=415.6ms, count=1, min=415.6ms, max=415.6ms
-  task_specific_sample: mean=411.7ms, total=411.7ms, count=1, min=411.7ms, max=411.7ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=474.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:11:10 INFO: [Worker 0] Worker 0 house 1 episode 135 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:11:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:11:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:11:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:11:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:11:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:11:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:11:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:11:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:11:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.032m, effective arm-mount z=0.828m (base_body_z=-0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031661m	[env.py: 870]
-05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:11:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.1287116   1.13295673 -0.0316612 ] yaw=-139.9deg	[env.py: 1019]
-05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93373116  1.08291426 -0.0316612 ] yaw=-150.6deg	[env.py: 1019]
-05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86511593  0.34884102 -0.0316612 ] yaw=179.5deg	[env.py: 1019]
-05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:11:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.3ms, total=162.4ms	[env.py: 1075]
-05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.129, 1.133, -0.032)	[env.py: 1079]
-05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.9 deg	[env.py: 1082]
-05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
-05/10 09:11:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:11:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:11:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:11:12 INFO: [Worker 0] Worker 0 house 1 episode 138/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:11:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:11:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:11:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:11:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:11:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:11:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.422[m] 82.192[deg]	[grasp_sample.py: 539]
-05/10 09:11:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:11:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:11:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:11:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:11:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:11:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:11:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:11:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:11:38 INFO: [Worker 0] Saved videos eagerly for episode 99 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:11:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 09:11:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:11:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:11:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:11:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:11:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:11:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:11:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:11:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:11:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.144s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:11:46 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.932s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:11:46 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.110[m] 0.648[deg]	[grasp_sample.py: 539]
-05/10 09:11:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:11:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:11:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:11:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:11:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:11:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:11:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.64s (batch: 5.14s, save: 9.49s)	[pipeline.py: 300]
-05/10 09:11:53 INFO: [Worker 0] [PROFILE] Episode 135 house 1 success=True episode_total=1.09s:
-  episode_total: mean=116.74s, total=233.48s, count=2, min=7691.6ms, max=225791.9ms
-  sensor_polling: mean=558.9ms, total=167.66s, count=300, min=445.9ms, max=1131.6ms
-  save_trajectories: mean=9.49s, total=9.49s, count=1, min=9492.2ms, max=9492.2ms
-  physics_step: mean=27.8ms, total=8.33s, count=300, min=18.4ms, max=115.5ms
-  save_batch_prep: mean=5.14s, total=5.14s, count=1, min=5143.9ms, max=5143.9ms
-  task_sampling: mean=546.5ms, total=1.09s, count=2, min=376.3ms, max=716.6ms
-  task_specific_sample: mean=542.8ms, total=1.09s, count=2, min=373.3ms, max=712.3ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.2ms, max=2.8ms
-  mj_forward_sync: mean=499.2us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:11:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:11:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:11:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:11:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:11:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:11:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:11:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:11:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:11:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005915m	[env.py: 870]
-05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:11:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84802099  0.443943   -0.00591523] yaw=168.4deg	[env.py: 1019]
-05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82885521  0.86045387 -0.00591523] yaw=-147.3deg	[env.py: 1019]
-05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04242316  0.72478422 -0.00591523] yaw=-149.4deg	[env.py: 1019]
-05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:11:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.9ms, total=85.9ms	[env.py: 1075]
-05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.444, -0.006)	[env.py: 1079]
-05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.4 deg	[env.py: 1082]
-05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
-05/10 09:11:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:11:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:11:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:11:56 INFO: [Worker 0] Worker 0 house 1 episode 136/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:11:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:11:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:11:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:11:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:11:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.522s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:11:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.454[m] 100.667[deg]	[grasp_sample.py: 539]
-05/10 09:11:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:11:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:11:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:11:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:11:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:12:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:12:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:12:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:12:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:12:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:12:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:12:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:12:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:12:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:12:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:12:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:12:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:12:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:12:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:12:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:12:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:12:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:12:21 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.733s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:12:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.108[m] 0.140[deg]	[grasp_sample.py: 539]
-05/10 09:12:22 ERROR: [Worker 0] Worker 0 house 1 episode 130 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 09:12:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:12:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:12:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:12:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:12:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:12:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:12:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:12:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:12:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:12:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:12:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032270m	[env.py: 870]
-05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:12:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03506424  0.81462164  0.03226966] yaw=-147.3deg	[env.py: 1019]
-05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78011915  0.37856831  0.03226966] yaw=167.9deg	[env.py: 1019]
-05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75194431  0.1509713   0.03226966] yaw=155.7deg	[env.py: 1019]
-05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:12:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=386.1ms, total=386.1ms	[env.py: 1075]
-05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.035, 0.815, 0.032)	[env.py: 1079]
-05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg	[env.py: 1082]
-05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.746m	[env.py: 1086]
-05/10 09:12:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:12:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:12:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:12:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:12:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:12:24 INFO: [Worker 0] Worker 0 house 1 episode 131/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:12:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:12:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:12:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:12:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:12:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.715s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:12:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.303[m] 87.235[deg]	[grasp_sample.py: 539]
-05/10 09:12:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:12:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:12:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:12:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:12:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:13:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:13:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:13:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:13:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:13:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:13:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:13:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:13:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:13:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:13:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:13:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:13:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:13:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:13:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:13:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:13:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:13:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:13:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:13:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:13:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:13:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:13:43 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.730s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:13:43 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.191[deg]	[grasp_sample.py: 539]
-05/10 09:13:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:13:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:13:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:13:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:13:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:13:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:13:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:13:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:13:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:13:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:13:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:13:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:13:52 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.726s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:13:52 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.267[deg]	[grasp_sample.py: 539]
-05/10 09:13:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:13:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:13:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:13:53 INFO: [Worker 0] Worker 0 house 1 episode 132 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:13:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:14:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:14:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:14:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:14:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:14:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:14:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:14:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:14:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:14:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:14:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:14:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:14:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:14:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:14:15 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.757s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:14:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.111[m] 0.117[deg]	[grasp_sample.py: 539]
-05/10 09:14:17 ERROR: [Worker 0] Worker 0 house 1 episode 138 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 09:14:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:14:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:14:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:14:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:14:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:14:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:14:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:14:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:14:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039696m	[env.py: 870]
-05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:14:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76708315  0.87444875  0.0396955 ] yaw=-154.6deg	[env.py: 1019]
-05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95633582  0.32342775  0.0396955 ] yaw=163.3deg	[env.py: 1019]
-05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.62496211  0.46281785  0.0396955 ] yaw=178.0deg	[env.py: 1019]
-05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:14:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=191.5ms, total=191.6ms	[env.py: 1075]
-05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.767, 0.874, 0.040)	[env.py: 1079]
-05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.6 deg	[env.py: 1082]
-05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
-05/10 09:14:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:14:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:14:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:14:19 INFO: [Worker 0] Worker 0 house 1 episode 139/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:14:19 INFO: [Worker 0] Saved videos eagerly for episode 98 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:14:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 09:14:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:14:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:14:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:14:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:14:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:14:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.274s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:14:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.581[m] 84.832[deg]	[grasp_sample.py: 539]
-05/10 09:14:23 ERROR: [Worker 0] Worker 0 house 1 episode 139 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 09:14:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:14:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:14:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:14:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:14:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:14:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:14:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012854m	[env.py: 870]
-05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:14:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87687866  0.16591614 -0.01285359] yaw=149.3deg	[env.py: 1019]
-05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9209742   0.08788983 -0.01285359] yaw=159.7deg	[env.py: 1019]
-05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95405584  0.44204043 -0.01285359] yaw=175.5deg	[env.py: 1019]
-05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:14:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.1ms, total=217.2ms	[env.py: 1075]
-05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.166, -0.013)	[env.py: 1079]
-05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.3 deg	[env.py: 1082]
-05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
-05/10 09:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:14:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:14:25 INFO: [Worker 0] Worker 0 house 1 episode 140/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:14:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.190s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:14:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:14:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:14:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.149s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:14:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.393s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:14:27 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.459[m] 91.295[deg]	[grasp_sample.py: 539]
-05/10 09:14:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:14:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:14:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:14:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:14:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:14:36 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.15s (batch: 4.89s, save: 12.25s)	[pipeline.py: 300]
-05/10 09:14:37 INFO: [Worker 0] [PROFILE] Episode 132 house 1 success=True episode_total=0.88s:
-  episode_total: mean=237.80s, total=237.80s, count=1, min=237799.3ms, max=237799.3ms
-  sensor_polling: mean=544.2ms, total=163.25s, count=300, min=467.1ms, max=945.4ms
-  save_trajectories: mean=12.25s, total=12.25s, count=1, min=12253.5ms, max=12253.5ms
-  physics_step: mean=26.7ms, total=8.00s, count=300, min=16.9ms, max=69.0ms
-  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4893.6ms, max=4893.6ms
-  task_sampling: mean=878.0ms, total=878.0ms, count=1, min=878.0ms, max=878.0ms
-  task_specific_sample: mean=873.4ms, total=873.4ms, count=1, min=873.4ms, max=873.4ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=561.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:14:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:14:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:14:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:14:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:14:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:14:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:14:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:14:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:14:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:14:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:14:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014731m	[env.py: 870]
-05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:14:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85742912  0.46733668 -0.01473128] yaw=170.7deg	[env.py: 1019]
-05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93947197  0.19728679 -0.01473128] yaw=162.2deg	[env.py: 1019]
-05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96910642  1.14230092 -0.01473128] yaw=-135.1deg	[env.py: 1019]
-05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:14:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.6ms, total=149.7ms	[env.py: 1075]
-05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.857, 0.467, -0.015)	[env.py: 1079]
-05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.7 deg	[env.py: 1082]
-05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
-05/10 09:14:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:14:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:14:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:14:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:14:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:14:39 INFO: [Worker 0] Worker 0 house 1 episode 133/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:14:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:14:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:14:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:14:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:14:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.525s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:14:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.355[m] 78.871[deg]	[grasp_sample.py: 539]
-05/10 09:14:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:14:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:14:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:14:56 INFO: [Worker 0] Worker 0 house 1 episode 136 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:15:11 INFO: [Worker 0] Worker 0 house 1 episode 131 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:15:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:15:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:15:24 INFO: [Worker 0] Saved videos eagerly for episode 100 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:15:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 09:15:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:15:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:15:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:15:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:15:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:15:37 INFO: [Worker 0] Saved videos eagerly for episode 96 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:15:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 09:15:37 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
-05/10 09:15:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:15:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:15:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.68s (batch: 5.07s, save: 9.61s)	[pipeline.py: 300]
-05/10 09:15:39 INFO: [Worker 0] [PROFILE] Episode 136 house 1 success=True episode_total=0.38s:
-  episode_total: mean=223.99s, total=223.99s, count=1, min=223992.2ms, max=223992.2ms
-  sensor_polling: mean=554.3ms, total=166.28s, count=300, min=465.3ms, max=1042.1ms
-  save_trajectories: mean=9.61s, total=9.61s, count=1, min=9612.4ms, max=9612.4ms
-  physics_step: mean=29.6ms, total=8.87s, count=300, min=18.4ms, max=71.2ms
-  save_batch_prep: mean=5.07s, total=5.07s, count=1, min=5068.3ms, max=5068.3ms
-  task_sampling: mean=379.3ms, total=379.3ms, count=1, min=379.3ms, max=379.3ms
-  task_specific_sample: mean=375.0ms, total=375.0ms, count=1, min=375.0ms, max=375.0ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=513.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:15:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:15:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:15:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:15:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:15:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:15:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:15:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:15:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:15:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044615m	[env.py: 870]
-05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:15:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.61985201  0.58743144  0.04461534] yaw=-164.9deg	[env.py: 1019]
-05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82057217  0.80627836  0.04461534] yaw=-155.0deg	[env.py: 1019]
-05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01353731  1.0360576   0.04461534] yaw=-132.7deg	[env.py: 1019]
-05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:15:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.7ms, total=139.7ms	[env.py: 1075]
-05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.620, 0.587, 0.045)	[env.py: 1079]
-05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.9 deg	[env.py: 1082]
-05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
-05/10 09:15:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:15:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:15:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:15:42 INFO: [Worker 0] Worker 0 house 1 episode 137/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:15:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.152s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:15:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:15:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:15:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:15:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.115s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:15:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.665[m] 92.779[deg]	[grasp_sample.py: 539]
-05/10 09:15:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:15:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:15:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:15:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:15:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:15:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.12s (batch: 4.73s, save: 9.39s)	[pipeline.py: 300]
-05/10 09:15:52 INFO: [Worker 0] [PROFILE] Episode 131 house 1 success=True episode_total=1.30s:
-  episode_total: mean=202.04s, total=404.07s, count=2, min=195331.7ms, max=208739.6ms
-  sensor_polling: mean=556.7ms, total=308.40s, count=554, min=465.8ms, max=942.5ms
-  physics_step: mean=27.6ms, total=15.28s, count=554, min=16.0ms, max=157.7ms
-  save_trajectories: mean=9.39s, total=9.39s, count=1, min=9393.1ms, max=9393.1ms
-  save_batch_prep: mean=4.73s, total=4.73s, count=1, min=4731.7ms, max=4731.7ms
-  task_sampling: mean=647.8ms, total=1.30s, count=2, min=594.4ms, max=701.3ms
-  task_specific_sample: mean=644.0ms, total=1.29s, count=2, min=590.5ms, max=697.5ms
-  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.7ms, max=2.5ms
-  mj_forward_sync: mean=513.0us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=22.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:15:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:15:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:15:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:15:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:15:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:15:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:15:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023862m	[env.py: 870]
-05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:15:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64502132  0.63229461 -0.02386228] yaw=-176.0deg	[env.py: 1019]
-05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85839436  0.57919723 -0.02386228] yaw=-164.1deg	[env.py: 1019]
-05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97056742  0.66449915 -0.02386228] yaw=-175.6deg	[env.py: 1019]
-05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:15:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=138.5ms, total=138.6ms	[env.py: 1075]
-05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.645, 0.632, -0.024)	[env.py: 1079]
-05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.0 deg	[env.py: 1082]
-05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
-05/10 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:15:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:15:55 INFO: [Worker 0] Worker 0 house 1 episode 132/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:15:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:15:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:15:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:15:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:15:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.049s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:15:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.620[m] 89.544[deg]	[grasp_sample.py: 539]
-05/10 09:15:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:15:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:15:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:17:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:17:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:17:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:17:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:17:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:17:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:17:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:17:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:17:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:17:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:17:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:17:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:17:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:17:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:17:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:17:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:17:22 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.711s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:17:22 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.209[deg]	[grasp_sample.py: 539]
-05/10 09:17:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:17:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:17:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:17:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:17:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:17:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:17:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:17:38 INFO: [Worker 0] Worker 0 house 1 episode 133 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:17:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:17:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:17:51 INFO: [Worker 0] Worker 0 house 1 episode 140 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:18:02 INFO: [Worker 0] Saved videos eagerly for episode 99 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:18:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 09:18:02 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
-05/10 09:18:13 INFO: [Worker 0] Saved videos eagerly for episode 91 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:18:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 09:18:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:18:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:18:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:18:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.30s (batch: 4.55s, save: 9.75s)	[pipeline.py: 300]
-05/10 09:18:17 INFO: [Worker 0] [PROFILE] Episode 133 house 1 success=True episode_total=0.45s:
-  episode_total: mean=217.78s, total=217.78s, count=1, min=217783.0ms, max=217783.0ms
-  sensor_polling: mean=561.8ms, total=162.93s, count=290, min=463.5ms, max=1025.9ms
-  save_trajectories: mean=9.75s, total=9.75s, count=1, min=9749.2ms, max=9749.2ms
-  physics_step: mean=31.0ms, total=8.99s, count=290, min=20.0ms, max=129.1ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4549.1ms, max=4549.1ms
-  task_sampling: mean=448.9ms, total=448.9ms, count=1, min=448.9ms, max=448.9ms
-  task_specific_sample: mean=444.7ms, total=444.7ms, count=1, min=444.7ms, max=444.7ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=441.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:18:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:18:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:18:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:18:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:18:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:18:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:18:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015803m	[env.py: 870]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:18:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93527454  0.22237835 -0.01580272] yaw=166.9deg	[env.py: 1019]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91631478  0.49788883 -0.01580272] yaw=-175.8deg	[env.py: 1019]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9037058   0.99819839 -0.01580272] yaw=-153.1deg	[env.py: 1019]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:18:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=461.6ms, total=461.6ms	[env.py: 1075]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.222, -0.016)	[env.py: 1079]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.9 deg	[env.py: 1082]
-05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
-05/10 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:18:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:18:19 INFO: [Worker 0] Worker 0 house 1 episode 134/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:18:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:18:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:18:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:18:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:18:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.513s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:18:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.400[m] 95.710[deg]	[grasp_sample.py: 539]
-05/10 09:18:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:18:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:18:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:18:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:18:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:18:26 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.48s (batch: 4.15s, save: 9.34s)	[pipeline.py: 300]
-05/10 09:18:27 INFO: [Worker 0] [PROFILE] Episode 140 house 1 success=True episode_total=1.63s:
-  episode_total: mean=143.96s, total=431.87s, count=3, min=4349.3ms, max=242083.9ms
-  sensor_polling: mean=552.2ms, total=314.21s, count=569, min=454.8ms, max=1036.7ms
-  physics_step: mean=27.0ms, total=15.39s, count=569, min=17.7ms, max=93.4ms
-  save_trajectories: mean=9.34s, total=9.34s, count=1, min=9337.9ms, max=9337.9ms
-  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4146.1ms, max=4146.1ms
-  task_sampling: mean=544.4ms, total=1.63s, count=3, min=524.6ms, max=565.9ms
-  task_specific_sample: mean=538.8ms, total=1.62s, count=3, min=516.1ms, max=562.2ms
-  scene_randomize: mean=2.0ms, total=5.9ms, count=3, min=1.4ms, max=2.9ms
-  mj_forward_sync: mean=496.7us, total=1.5ms, count=3, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:18:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:18:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:18:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:18:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:18:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:18:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:18:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:18:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:18:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043866m	[env.py: 870]
-05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:18:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79379386  0.60191676 -0.04386642] yaw=-183.2deg	[env.py: 1019]
-05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89430261  0.56844082 -0.04386642] yaw=-166.9deg	[env.py: 1019]
-05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83740391  0.20299056 -0.04386642] yaw=158.6deg	[env.py: 1019]
-05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:18:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.5ms, total=123.5ms	[env.py: 1075]
-05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.794, 0.602, -0.044)	[env.py: 1079]
-05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.2 deg	[env.py: 1082]
-05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
-05/10 09:18:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:18:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:18:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:18:29 INFO: [Worker 0] Worker 0 house 1 episode 141/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:18:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:18:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:18:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:18:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:18:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.512s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:18:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.482[m] 87.637[deg]	[grasp_sample.py: 539]
-05/10 09:18:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:18:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:18:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:18:39 INFO: [Worker 0] Worker 0 house 1 episode 137 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:18:54 INFO: [Worker 0] Worker 0 house 1 episode 132 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:19:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:19:06 INFO: [Worker 0] Saved videos eagerly for episode 101 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:19:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 09:19:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:19:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:19:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:19:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:19:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:19:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.15s (batch: 5.02s, save: 11.13s)	[pipeline.py: 300]
-05/10 09:19:23 INFO: [Worker 0] [PROFILE] Episode 137 house 1 success=True episode_total=0.52s:
-  episode_total: mean=221.56s, total=221.56s, count=1, min=221555.7ms, max=221555.7ms
-  sensor_polling: mean=543.9ms, total=163.17s, count=300, min=453.9ms, max=1186.8ms
-  save_trajectories: mean=11.13s, total=11.13s, count=1, min=11134.2ms, max=11134.2ms
-  physics_step: mean=26.7ms, total=8.02s, count=300, min=17.6ms, max=120.7ms
-  save_batch_prep: mean=5.02s, total=5.02s, count=1, min=5016.4ms, max=5016.4ms
-  task_sampling: mean=521.7ms, total=521.7ms, count=1, min=521.7ms, max=521.7ms
-  task_specific_sample: mean=516.6ms, total=516.6ms, count=1, min=516.6ms, max=516.6ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=636.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:19:24 INFO: [Worker 0] Saved videos eagerly for episode 97 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:19:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 09:19:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:19:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:19:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:19:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:19:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:19:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:19:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:19:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:19:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:19:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:19:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018647m	[env.py: 870]
-05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:19:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65534782  0.79197062 -0.01864702] yaw=-164.8deg	[env.py: 1019]
-05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9663042   0.43849645 -0.01864702] yaw=185.1deg	[env.py: 1019]
-05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84446677  0.30798223 -0.01864702] yaw=160.5deg	[env.py: 1019]
-05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:19:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.0ms, total=171.0ms	[env.py: 1075]
-05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.655, 0.792, -0.019)	[env.py: 1079]
-05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.8 deg	[env.py: 1082]
-05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
-05/10 09:19:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:19:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:19:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:19:25 INFO: [Worker 0] Worker 0 house 1 episode 138/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:19:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:19:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:19:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:19:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:19:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.517s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:19:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.631[m] 87.119[deg]	[grasp_sample.py: 539]
-05/10 09:19:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:19:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:19:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:19:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:19:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:19:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:19:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.39s (batch: 4.65s, save: 11.73s)	[pipeline.py: 300]
-05/10 09:19:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:19:42 INFO: [Worker 0] [PROFILE] Episode 132 house 1 success=True episode_total=0.48s:
-  episode_total: mean=227.64s, total=227.64s, count=1, min=227644.3ms, max=227644.3ms
-  sensor_polling: mean=549.5ms, total=164.85s, count=300, min=459.7ms, max=1056.6ms
-  save_trajectories: mean=11.73s, total=11.73s, count=1, min=11734.6ms, max=11734.6ms
-  physics_step: mean=26.5ms, total=7.96s, count=300, min=16.7ms, max=95.1ms
-  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4651.9ms, max=4651.9ms
-  task_sampling: mean=476.6ms, total=476.6ms, count=1, min=476.6ms, max=476.6ms
-  task_specific_sample: mean=471.6ms, total=471.6ms, count=1, min=471.6ms, max=471.6ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=680.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:19:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:19:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:19:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:19:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:19:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:19:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:19:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:19:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:19:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025250m	[env.py: 870]
-05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:19:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96581884  0.48491053 -0.02524956] yaw=-177.7deg	[env.py: 1019]
-05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79320013  0.59157655 -0.02524956] yaw=-171.7deg	[env.py: 1019]
-05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06480409  0.87737716 -0.02524956] yaw=-157.8deg	[env.py: 1019]
-05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:19:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.9ms, total=223.9ms	[env.py: 1075]
-05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.966, 0.485, -0.025)	[env.py: 1079]
-05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.7 deg	[env.py: 1082]
-05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.737m	[env.py: 1086]
-05/10 09:19:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:19:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:19:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:19:44 INFO: [Worker 0] Worker 0 house 1 episode 133/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:19:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.155s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:19:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:19:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:19:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:19:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.492s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:19:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.291[m] 86.162[deg]	[grasp_sample.py: 539]
-05/10 09:19:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:19:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:19:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:20:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:20:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:20:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:20:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:20:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:20:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:21:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:21:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:21:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:21:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:21:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:21:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:21:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:21:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:21:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:21:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:21:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:21:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:21:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:21:13 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.548s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:21:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.480[deg]	[grasp_sample.py: 539]
-05/10 09:21:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:21:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:21:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:21:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:21:33 INFO: [Worker 0] Worker 0 house 1 episode 141 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:21:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:21:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:21:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:21:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:21:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:21:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:21:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:21:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:21:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:21:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:21:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:21:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:21:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:21:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:21:59 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.798s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:21:59 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.242[deg]	[grasp_sample.py: 539]
-05/10 09:22:00 ERROR: [Worker 0] Worker 0 house 1 episode 133 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 09:22:00 INFO: [Worker 0] Worker 0 house 1 episode 134 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:22:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:22:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:22:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:22:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:22:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:22:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:22:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:22:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:22:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:22:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:22:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034253m	[env.py: 870]
-05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:22:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75733891  0.4898248   0.03425274] yaw=-177.1deg	[env.py: 1019]
-05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.61719077  0.37483793  0.03425274] yaw=164.0deg	[env.py: 1019]
-05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87897553  0.91412343  0.03425274] yaw=-161.2deg	[env.py: 1019]
-05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:22:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=407.4ms, total=407.4ms	[env.py: 1075]
-05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.490, 0.034)	[env.py: 1079]
-05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.1 deg	[env.py: 1082]
-05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m	[env.py: 1086]
-05/10 09:22:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:22:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:22:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:22:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:22:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:22:03 INFO: [Worker 0] Worker 0 house 1 episode 134/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:22:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.146s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:22:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:22:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:22:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:22:03 INFO: [Worker 0] Saved videos eagerly for episode 92 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:22:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 09:22:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:22:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.546s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:22:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.525[m] 90.523[deg]	[grasp_sample.py: 539]
-05/10 09:22:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:22:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:22:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:22:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:22:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:22:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.57s (batch: 5.72s, save: 10.86s)	[pipeline.py: 300]
-05/10 09:22:21 INFO: [Worker 0] [PROFILE] Episode 141 house 1 success=True episode_total=0.42s:
-  episode_total: mean=231.98s, total=231.98s, count=1, min=231976.8ms, max=231976.8ms
-  sensor_polling: mean=567.4ms, total=170.23s, count=300, min=466.1ms, max=1009.0ms
-  save_trajectories: mean=10.86s, total=10.86s, count=1, min=10855.9ms, max=10855.9ms
-  physics_step: mean=28.3ms, total=8.49s, count=300, min=16.7ms, max=114.3ms
-  save_batch_prep: mean=5.72s, total=5.72s, count=1, min=5716.5ms, max=5716.5ms
-  task_sampling: mean=424.1ms, total=424.1ms, count=1, min=424.1ms, max=424.1ms
-  task_specific_sample: mean=420.2ms, total=420.2ms, count=1, min=420.2ms, max=420.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=437.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:22:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:22:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:22:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:22:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:22:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:22:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:22:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:22:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:22:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015438m	[env.py: 870]
-05/10 09:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:22:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95254503  1.17481048 -0.01543765] yaw=-146.7deg	[env.py: 1019]
-05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 131.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69195845  0.1914401  -0.01543765] yaw=153.6deg	[env.py: 1019]
-05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98871273  0.09612155 -0.01543765] yaw=158.9deg	[env.py: 1019]
-05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:22:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.5ms, total=171.6ms	[env.py: 1075]
-05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 1.175, -0.015)	[env.py: 1079]
-05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.7 deg	[env.py: 1082]
-05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m	[env.py: 1086]
-05/10 09:22:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:22:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:22:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:22:23 INFO: [Worker 0] Worker 0 house 1 episode 142/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:22:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:22:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:22:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:22:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:22:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.789s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:22:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.612[m] 85.763[deg]	[grasp_sample.py: 539]
-05/10 09:22:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:22:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:22:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:22:29 INFO: [Worker 0] Saved videos eagerly for episode 100 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:22:29 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 09:22:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:22:31 INFO: [Worker 0] Worker 0 house 1 episode 138 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:22:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:22:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:22:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.38s (batch: 4.72s, save: 12.66s)	[pipeline.py: 300]
-05/10 09:22:47 INFO: [Worker 0] [PROFILE] Episode 134 house 1 success=True episode_total=0.83s:
-  episode_total: mean=268.43s, total=268.43s, count=1, min=268429.0ms, max=268429.0ms
-  sensor_polling: mean=552.7ms, total=165.82s, count=300, min=463.8ms, max=1174.0ms
-  save_trajectories: mean=12.66s, total=12.66s, count=1, min=12656.8ms, max=12656.8ms
-  physics_step: mean=29.1ms, total=8.74s, count=300, min=16.2ms, max=113.6ms
-  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4719.1ms, max=4719.1ms
-  task_sampling: mean=829.8ms, total=829.8ms, count=1, min=829.8ms, max=829.8ms
-  task_specific_sample: mean=826.0ms, total=826.0ms, count=1, min=826.0ms, max=826.0ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=406.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:22:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:22:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:22:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:22:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:22:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:22:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:22:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003832m	[env.py: 870]
-05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:22:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.16495728  1.07565164 -0.00383183] yaw=-142.8deg	[env.py: 1019]
-05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09685098  1.2329006  -0.00383183] yaw=-119.5deg	[env.py: 1019]
-05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82537551  0.95514517 -0.00383183] yaw=-159.2deg	[env.py: 1019]
-05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:22:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.4ms, total=209.5ms	[env.py: 1075]
-05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.165, 1.076, -0.004)	[env.py: 1079]
-05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.8 deg	[env.py: 1082]
-05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
-05/10 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:22:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:22:50 INFO: [Worker 0] Worker 0 house 1 episode 135/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:22:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:22:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:22:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:22:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:22:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.913s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:22:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.360[m] 83.418[deg]	[grasp_sample.py: 539]
-05/10 09:22:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:22:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:22:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:22:59 INFO: [Worker 0] Saved videos eagerly for episode 102 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:22:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 09:22:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:23:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:23:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:23:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:23:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.31s (batch: 4.90s, save: 10.41s)	[pipeline.py: 300]
-05/10 09:23:15 INFO: [Worker 0] [PROFILE] Episode 138 house 1 success=True episode_total=0.50s:
-  episode_total: mean=230.09s, total=230.09s, count=1, min=230094.7ms, max=230094.7ms
-  sensor_polling: mean=568.6ms, total=170.59s, count=300, min=455.3ms, max=1153.1ms
-  save_trajectories: mean=10.41s, total=10.41s, count=1, min=10411.4ms, max=10411.4ms
-  physics_step: mean=28.9ms, total=8.67s, count=300, min=18.9ms, max=98.3ms
-  save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4898.5ms, max=4898.5ms
-  task_sampling: mean=498.0ms, total=498.0ms, count=1, min=498.0ms, max=498.0ms
-  task_specific_sample: mean=494.3ms, total=494.3ms, count=1, min=494.3ms, max=494.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=463.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:23:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:23:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:23:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:23:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:23:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:23:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:23:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022859m	[env.py: 870]
-05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:23:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82352979  0.45502925  0.0228591 ] yaw=172.8deg	[env.py: 1019]
-05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.65878916  0.66831771  0.0228591 ] yaw=-167.4deg	[env.py: 1019]
-05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.65940268  0.26960396  0.0228591 ] yaw=160.1deg	[env.py: 1019]
-05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:23:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=309.0ms, total=309.1ms	[env.py: 1075]
-05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.824, 0.455, 0.023)	[env.py: 1079]
-05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.8 deg	[env.py: 1082]
-05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m	[env.py: 1086]
-05/10 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:23:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:23:18 INFO: [Worker 0] Worker 0 house 1 episode 139/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:23:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:23:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:23:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:23:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:23:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.012s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:23:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.394[m] 85.252[deg]	[grasp_sample.py: 539]
-05/10 09:23:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:23:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:23:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:23:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:23:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:23:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:23:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:23:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:23:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:23:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:23:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:24:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:24:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:24:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:24:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:24:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:24:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:24:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:24:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:24:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:24:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:25:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:25:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:25:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:25:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:25:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:25:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:25:02 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.700s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:25:02 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.146[deg]	[grasp_sample.py: 539]
-05/10 09:25:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:25:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:25:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:25:06 INFO: [Worker 0] Worker 0 house 1 episode 134 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:25:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:25:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:25:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:25:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:25:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:25:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:25:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:25:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:25:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:25:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:25:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:25:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:25:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:25:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:25:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:25:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:25:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 84 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:25:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:25:23 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.313s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:25:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.044[m] 0.556[deg]	[grasp_sample.py: 539]
-05/10 09:25:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:25:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:25:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:25:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:25:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:25:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:25:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:25:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:25:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:25:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:25:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:25:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:25:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.816s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:25:30 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.289[deg]	[grasp_sample.py: 539]
-05/10 09:25:32 ERROR: [Worker 0] Worker 0 house 1 episode 135 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 09:25:32 INFO: [Worker 0] Saved videos eagerly for episode 98 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:25:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 09:25:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:25:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:25:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:25:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:25:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:25:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:25:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:25:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:25:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:25:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:25:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:25:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033202m	[env.py: 870]
-05/10 09:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:25:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94908042  0.74212032  0.03320225] yaw=-149.5deg	[env.py: 1019]
-05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83945073  0.53451153  0.03320225] yaw=-186.8deg	[env.py: 1019]
-05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.95733566  1.13348261  0.03320225] yaw=-143.5deg	[env.py: 1019]
-05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:25:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=426.1ms, total=426.1ms	[env.py: 1075]
-05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.742, 0.033)	[env.py: 1079]
-05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.5 deg	[env.py: 1082]
-05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.797m	[env.py: 1086]
-05/10 09:25:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:25:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:25:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:25:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:25:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:25:34 INFO: [Worker 0] Worker 0 house 1 episode 136/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:25:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:25:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:25:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:25:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:25:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.534s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:25:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.357[m] 87.976[deg]	[grasp_sample.py: 539]
-05/10 09:25:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:25:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:25:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:25:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:25:45 INFO: [Worker 0] Worker 0 house 1 episode 142 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 09:25:45 INFO: [Worker 0] [PROFILE] Episode 142 house 1 success=False episode_total=0.51s:
-  episode_total: mean=203.04s, total=203.04s, count=1, min=203040.9ms, max=203040.9ms
-  sensor_polling: mean=548.5ms, total=164.56s, count=300, min=455.8ms, max=1098.9ms
-  physics_step: mean=26.9ms, total=8.06s, count=300, min=17.5ms, max=107.8ms
-  task_sampling: mean=512.7ms, total=512.7ms, count=1, min=512.7ms, max=512.7ms
-  task_specific_sample: mean=507.7ms, total=507.7ms, count=1, min=507.7ms, max=507.7ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=698.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:25:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:25:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:25:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:25:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:25:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:25:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:25:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:25:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:25:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034205m	[env.py: 870]
-05/10 09:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:25:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86944107  0.48870061  0.03420538] yaw=-172.5deg	[env.py: 1019]
-05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68762722  0.32635292  0.03420538] yaw=163.4deg	[env.py: 1019]
-05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:25:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:25:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:25:48 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.42s (batch: 4.66s, save: 10.76s)	[pipeline.py: 300]
-05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92547509  0.58414281  0.03420538] yaw=-162.4deg	[env.py: 1019]
-05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:25:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=330.8ms, total=330.8ms	[env.py: 1075]
-05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.489, 0.034)	[env.py: 1079]
-05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.5 deg	[env.py: 1082]
-05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
-05/10 09:25:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:25:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:25:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:25:48 INFO: [Worker 0] Worker 0 house 1 episode 143/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:25:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:25:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:25:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:25:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:25:48 INFO: [Worker 0] [PROFILE] Episode 134 house 1 success=True episode_total=1.27s:
-  episode_total: mean=181.35s, total=362.70s, count=2, min=136136.2ms, max=226564.5ms
-  sensor_polling: mean=563.7ms, total=272.27s, count=483, min=469.6ms, max=1016.7ms
-  physics_step: mean=28.3ms, total=13.65s, count=483, min=15.0ms, max=116.2ms
-  save_trajectories: mean=10.76s, total=10.76s, count=1, min=10756.7ms, max=10756.7ms
-  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4663.3ms, max=4663.3ms
-  task_sampling: mean=632.6ms, total=1.27s, count=2, min=546.3ms, max=718.9ms
-  task_specific_sample: mean=628.2ms, total=1.26s, count=2, min=541.9ms, max=714.5ms
-  scene_randomize: mean=2.6ms, total=5.2ms, count=2, min=2.3ms, max=2.9ms
-  mj_forward_sync: mean=512.0us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:25:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:25:49 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.375[m] 87.428[deg]	[grasp_sample.py: 539]
-05/10 09:25:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:25:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:25:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:25:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:25:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:25:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:25:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:25:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:25:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:25:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:25:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:25:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:25:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:25:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021909m	[env.py: 870]
-05/10 09:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:25:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94890202  0.32192207 -0.02190908] yaw=174.0deg	[env.py: 1019]
-05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03510059  0.84277634 -0.02190908] yaw=-157.0deg	[env.py: 1019]
-05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00302198  0.63117375 -0.02190908] yaw=-173.5deg	[env.py: 1019]
-05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:25:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=230.4ms, total=230.4ms	[env.py: 1075]
-05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.322, -0.022)	[env.py: 1079]
-05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.0 deg	[env.py: 1082]
-05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.770m	[env.py: 1086]
-05/10 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:25:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:25:51 INFO: [Worker 0] Worker 0 house 1 episode 135/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:25:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:25:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:25:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:25:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.168s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:25:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.972s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:25:52 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.376[m] 96.312[deg]	[grasp_sample.py: 539]
-05/10 09:25:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:25:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:25:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:26:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:26:22 INFO: [Worker 0] Worker 0 house 1 episode 139 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:26:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:26:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:26:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:26:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:26:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:26:48 INFO: [Worker 0] Saved videos eagerly for episode 103 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:26:48 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 09:26:48 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/10 09:26:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:26:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:26:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:27:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:27:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:27:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 19.24s (batch: 5.37s, save: 13.87s)	[pipeline.py: 300]
-05/10 09:27:08 INFO: [Worker 0] [PROFILE] Episode 139 house 1 success=True episode_total=0.64s:
-  episode_total: mean=230.81s, total=230.81s, count=1, min=230814.2ms, max=230814.2ms
-  sensor_polling: mean=553.7ms, total=165.57s, count=299, min=464.3ms, max=1094.7ms
-  save_trajectories: mean=13.87s, total=13.87s, count=1, min=13865.7ms, max=13865.7ms
-  physics_step: mean=30.5ms, total=9.11s, count=299, min=20.0ms, max=75.1ms
-  save_batch_prep: mean=5.37s, total=5.37s, count=1, min=5373.9ms, max=5373.9ms
-  task_sampling: mean=644.3ms, total=644.3ms, count=1, min=644.3ms, max=644.3ms
-  task_specific_sample: mean=639.7ms, total=639.7ms, count=1, min=639.7ms, max=639.7ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=540.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:27:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:27:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:27:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:27:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:27:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:27:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:27:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:27:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:27:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002459m	[env.py: 870]
-05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:27:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.61603723  0.43571659 -0.00245873] yaw=180.7deg	[env.py: 1019]
-05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:27:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=578.0ms, total=578.0ms	[env.py: 1075]
-05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.616, 0.436, -0.002)	[env.py: 1079]
-05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.7 deg	[env.py: 1082]
-05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
-05/10 09:27:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:27:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:27:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:27:11 INFO: [Worker 0] Worker 0 house 1 episode 140/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:27:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.146s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:27:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:27:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:27:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:27:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.012s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:27:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.660[m] 93.837[deg]	[grasp_sample.py: 539]
-05/10 09:27:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:27:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:27:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:28:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:28:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:28:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:28:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:28:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:28:32 INFO: [Worker 0] Worker 0 house 1 episode 136 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:28:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:28:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:28:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:28:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:28:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:28:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:28:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:28:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:28:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:28:40 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.728s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:28:40 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.665[deg]	[grasp_sample.py: 539]
-05/10 09:28:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:28:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:28:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:28:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:28:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:28:47 INFO: [Worker 0] Worker 0 house 1 episode 143 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:28:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:28:58 INFO: [Worker 0] Saved videos eagerly for episode 101 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:28:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 09:28:58 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/10 09:28:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:29:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:29:12 INFO: [Worker 0] Saved videos eagerly for episode 93 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:29:12 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 09:29:12 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
-05/10 09:29:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:29:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:29:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.19s (batch: 4.29s, save: 10.90s)	[pipeline.py: 300]
-05/10 09:29:14 INFO: [Worker 0] [PROFILE] Episode 136 house 1 success=True episode_total=1.54s:
-  episode_total: mean=191.64s, total=383.28s, count=2, min=162645.0ms, max=220630.4ms
-  sensor_polling: mean=560.0ms, total=299.03s, count=534, min=464.1ms, max=994.0ms
-  physics_step: mean=28.4ms, total=15.18s, count=534, min=19.2ms, max=137.2ms
-  save_trajectories: mean=10.90s, total=10.90s, count=1, min=10897.1ms, max=10897.1ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4291.6ms, max=4291.6ms
-  task_sampling: mean=770.2ms, total=1.54s, count=2, min=752.7ms, max=787.6ms
-  task_specific_sample: mean=765.7ms, total=1.53s, count=2, min=748.8ms, max=782.6ms
-  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=1.7ms, max=3.3ms
-  mj_forward_sync: mean=617.0us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:29:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:29:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:29:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:29:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:29:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:29:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:29:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:29:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:29:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:29:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:29:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018840m	[env.py: 870]
-05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:29:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72973325  0.33636436 -0.01884042] yaw=170.1deg	[env.py: 1019]
-05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9446214   0.66461596 -0.01884042] yaw=-169.1deg	[env.py: 1019]
-05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80183205  0.58773073 -0.01884042] yaw=-179.7deg	[env.py: 1019]
-05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:29:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.1ms, total=97.2ms	[env.py: 1075]
-05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.336, -0.019)	[env.py: 1079]
-05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.1 deg	[env.py: 1082]
-05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
-05/10 09:29:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:29:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:29:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:29:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:29:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:29:16 INFO: [Worker 0] Worker 0 house 1 episode 137/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:29:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:29:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:29:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:29:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:29:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:29:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.552[m] 90.976[deg]	[grasp_sample.py: 539]
-05/10 09:29:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:29:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:29:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:29:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:29:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:29:26 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.91s (batch: 4.36s, save: 9.54s)	[pipeline.py: 300]
-05/10 09:29:27 INFO: [Worker 0] [PROFILE] Episode 143 house 1 success=True episode_total=0.65s:
-  episode_total: mean=219.29s, total=219.29s, count=1, min=219290.9ms, max=219290.9ms
-  sensor_polling: mean=552.8ms, total=163.63s, count=296, min=462.9ms, max=930.7ms
-  save_trajectories: mean=9.54s, total=9.54s, count=1, min=9544.5ms, max=9544.5ms
-  physics_step: mean=29.9ms, total=8.84s, count=296, min=18.5ms, max=103.8ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4363.4ms, max=4363.4ms
-  task_sampling: mean=651.3ms, total=651.3ms, count=1, min=651.3ms, max=651.3ms
-  task_specific_sample: mean=646.8ms, total=646.8ms, count=1, min=646.8ms, max=646.8ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=680.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:29:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:29:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:29:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:29:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:29:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:29:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:29:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020654m	[env.py: 870]
-05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:29:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05817581  1.08777258  0.0206544 ] yaw=-146.7deg	[env.py: 1019]
-05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08797061  1.05954983  0.0206544 ] yaw=-147.1deg	[env.py: 1019]
-05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.73415053  0.02803513  0.0206544 ] yaw=160.0deg	[env.py: 1019]
-05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:29:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=237.9ms, total=237.9ms	[env.py: 1075]
-05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.058, 1.088, 0.021)	[env.py: 1079]
-05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.7 deg	[env.py: 1082]
-05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
-05/10 09:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:29:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:29:29 INFO: [Worker 0] Worker 0 house 1 episode 144/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:29:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:29:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:29:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:29:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:29:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.731s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:29:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.459[m] 87.493[deg]	[grasp_sample.py: 539]
-05/10 09:29:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:29:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:29:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:29:34 INFO: [Worker 0] Worker 0 house 1 episode 135 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:30:02 INFO: [Worker 0] Saved videos eagerly for episode 99 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:30:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 09:30:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:30:07 INFO: [Worker 0] Worker 0 house 1 episode 140 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:30:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:30:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:30:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.46s (batch: 4.92s, save: 11.54s)	[pipeline.py: 300]
-05/10 09:30:19 INFO: [Worker 0] [PROFILE] Episode 135 house 1 success=True episode_total=0.57s:
-  episode_total: mean=268.45s, total=268.45s, count=1, min=268449.0ms, max=268449.0ms
-  sensor_polling: mean=563.0ms, total=168.90s, count=300, min=452.6ms, max=983.6ms
-  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11541.7ms, max=11541.7ms
-  physics_step: mean=30.0ms, total=9.00s, count=300, min=15.1ms, max=140.0ms
-  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4920.4ms, max=4920.4ms
-  task_sampling: mean=565.5ms, total=565.5ms, count=1, min=565.5ms, max=565.5ms
-  task_specific_sample: mean=561.0ms, total=561.0ms, count=1, min=561.0ms, max=561.0ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=552.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:30:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:30:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:30:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:30:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:30:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:30:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:30:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034267m	[env.py: 870]
-05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:30:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92396619  0.67027949  0.03426667] yaw=-174.5deg	[env.py: 1019]
-05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97775768  0.58369419  0.03426667] yaw=-169.2deg	[env.py: 1019]
-05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:30:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=425.6ms, total=425.7ms	[env.py: 1075]
-05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.924, 0.670, 0.034)	[env.py: 1079]
-05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.5 deg	[env.py: 1082]
-05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
-05/10 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:30:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:30:22 INFO: [Worker 0] Worker 0 house 1 episode 136/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:30:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:30:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:30:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:30:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:30:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:30:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:30:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.010s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:30:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.391[m] 98.581[deg]	[grasp_sample.py: 539]
-05/10 09:30:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:30:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:30:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:30:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:30:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:30:38 INFO: [Worker 0] Saved videos eagerly for episode 104 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:30:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 09:30:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:30:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:30:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:30:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:30:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:30:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.28s (batch: 5.25s, save: 9.03s)	[pipeline.py: 300]
-05/10 09:30:53 INFO: [Worker 0] [PROFILE] Episode 140 house 1 success=True episode_total=0.90s:
-  episode_total: mean=223.21s, total=223.21s, count=1, min=223206.4ms, max=223206.4ms
-  sensor_polling: mean=543.6ms, total=163.09s, count=300, min=461.8ms, max=948.1ms
-  save_trajectories: mean=9.03s, total=9.03s, count=1, min=9029.8ms, max=9029.8ms
-  physics_step: mean=27.2ms, total=8.16s, count=300, min=19.8ms, max=79.2ms
-  save_batch_prep: mean=5.25s, total=5.25s, count=1, min=5252.7ms, max=5252.7ms
-  task_sampling: mean=902.6ms, total=902.6ms, count=1, min=902.6ms, max=902.6ms
-  task_specific_sample: mean=898.8ms, total=898.8ms, count=1, min=898.8ms, max=898.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=400.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:30:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:30:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:30:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:30:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:30:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:30:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:30:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:30:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:30:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045118m	[env.py: 870]
-05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:30:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 132.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71312731  0.66454206 -0.04511816] yaw=-161.4deg	[env.py: 1019]
-05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.10103757  1.12893337 -0.04511816] yaw=-126.4deg	[env.py: 1019]
-05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89055999  0.05501221 -0.04511816] yaw=152.3deg	[env.py: 1019]
-05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:30:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.2ms, total=156.3ms	[env.py: 1075]
-05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.713, 0.665, -0.045)	[env.py: 1079]
-05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.4 deg	[env.py: 1082]
-05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
-05/10 09:30:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:30:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:30:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:30:55 INFO: [Worker 0] Worker 0 house 1 episode 141/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:30:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:30:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:30:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:30:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:30:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.815s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:30:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.587[m] 94.106[deg]	[grasp_sample.py: 539]
-05/10 09:30:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:30:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:30:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:31:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:31:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:31:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:32:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:32:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:32:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:32:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:32:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:32:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:32:20 INFO: [Worker 0] Worker 0 house 1 episode 137 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:32:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:32:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:32:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:32:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:32:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:32:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:32:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:32:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.102s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:32:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:32:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.362s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:32:30 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.249[deg]	[grasp_sample.py: 539]
-05/10 09:32:31 ERROR: [Worker 0] Worker 0 house 1 episode 144 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 09:32:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:32:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:32:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:32:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:32:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:32:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:32:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:32:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:32:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015592m	[env.py: 870]
-05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:32:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97808853  1.29034508 -0.01559199] yaw=-137.9deg	[env.py: 1019]
-05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71108689  0.52431785 -0.01559199] yaw=-177.7deg	[env.py: 1019]
-05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76964511  0.3728274  -0.01559199] yaw=183.5deg	[env.py: 1019]
-05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:32:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.5ms, total=178.6ms	[env.py: 1075]
-05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.978, 1.290, -0.016)	[env.py: 1079]
-05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.9 deg	[env.py: 1082]
-05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
-05/10 09:32:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:32:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:32:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:32:33 INFO: [Worker 0] Worker 0 house 1 episode 145/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:32:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:32:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:32:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:32:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:32:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.733s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 09:32:35 ERROR: [Worker 0] Worker 0 house 1 episode 145 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 09:32:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:32:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:32:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:32:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:32:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:32:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:32:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:32:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:32:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047456m	[env.py: 870]
-05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:32:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69565619  0.45429715 -0.04745551] yaw=181.9deg	[env.py: 1019]
-05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99527813  0.42617524 -0.04745551] yaw=173.4deg	[env.py: 1019]
-05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85730974  0.1504656  -0.04745551] yaw=152.8deg	[env.py: 1019]
-05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:32:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.4ms, total=182.5ms	[env.py: 1075]
-05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.696, 0.454, -0.047)	[env.py: 1079]
-05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.9 deg	[env.py: 1082]
-05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m	[env.py: 1086]
-05/10 09:32:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:32:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:32:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:32:38 INFO: [Worker 0] Worker 0 house 1 episode 146/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:32:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:32:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:32:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:32:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:32:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.551s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:32:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.552[m] 83.907[deg]	[grasp_sample.py: 539]
-05/10 09:32:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:32:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:32:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:32:49 INFO: [Worker 0] Saved videos eagerly for episode 102 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:32:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 09:32:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:33:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:33:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:33:06 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.42s (batch: 4.86s, save: 11.57s)	[pipeline.py: 300]
-05/10 09:33:06 INFO: [Worker 0] [PROFILE] Episode 137 house 1 success=True episode_total=0.48s:
-  episode_total: mean=230.82s, total=230.82s, count=1, min=230823.2ms, max=230823.2ms
-  sensor_polling: mean=563.6ms, total=169.09s, count=300, min=466.5ms, max=1133.0ms
-  save_trajectories: mean=11.57s, total=11.57s, count=1, min=11568.9ms, max=11568.9ms
-  physics_step: mean=30.5ms, total=9.15s, count=300, min=20.1ms, max=136.4ms
-  save_batch_prep: mean=4.86s, total=4.86s, count=1, min=4855.9ms, max=4855.9ms
-  task_sampling: mean=484.7ms, total=484.7ms, count=1, min=484.7ms, max=484.7ms
-  task_specific_sample: mean=481.0ms, total=481.0ms, count=1, min=481.0ms, max=481.0ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=424.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:33:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:33:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:33:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:33:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:33:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:33:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:33:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:33:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:33:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004226m	[env.py: 870]
-05/10 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:33:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91641442  0.53284303 -0.00422569] yaw=-170.9deg	[env.py: 1019]
-05/10 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83393706  0.36567308 -0.00422569] yaw=177.3deg	[env.py: 1019]
-05/10 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:33:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=461.1ms, total=461.2ms	[env.py: 1075]
-05/10 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.916, 0.533, -0.004)	[env.py: 1079]
-05/10 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.9 deg	[env.py: 1082]
-05/10 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.788m	[env.py: 1086]
-05/10 09:33:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:33:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:33:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:33:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:33:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:33:09 INFO: [Worker 0] Worker 0 house 1 episode 138/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:33:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:33:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:33:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:33:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:33:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:33:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.371[m] 93.064[deg]	[grasp_sample.py: 539]
-05/10 09:33:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:33:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:33:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:33:29 INFO: [Worker 0] Worker 0 house 1 episode 136 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:33:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:33:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:33:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:33:55 INFO: [Worker 0] Saved videos eagerly for episode 100 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:33:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 09:33:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:34:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:34:02 INFO: [Worker 0] Worker 0 house 1 episode 141 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:34:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:34:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:34:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:34:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.79s (batch: 5.16s, save: 9.63s)	[pipeline.py: 300]
-05/10 09:34:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:34:11 INFO: [Worker 0] [PROFILE] Episode 136 house 1 success=True episode_total=0.79s:
-  episode_total: mean=230.05s, total=230.05s, count=1, min=230045.1ms, max=230045.1ms
-  sensor_polling: mean=571.6ms, total=171.48s, count=300, min=463.0ms, max=1605.0ms
-  save_trajectories: mean=9.63s, total=9.63s, count=1, min=9627.1ms, max=9627.1ms
-  physics_step: mean=30.6ms, total=9.19s, count=300, min=18.6ms, max=137.6ms
-  save_batch_prep: mean=5.16s, total=5.16s, count=1, min=5164.1ms, max=5164.1ms
-  task_sampling: mean=792.5ms, total=792.5ms, count=1, min=792.5ms, max=792.5ms
-  task_specific_sample: mean=786.8ms, total=786.8ms, count=1, min=786.8ms, max=786.8ms
-  scene_randomize: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms
-  mj_forward_sync: mean=561.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:34:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:34:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:34:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:34:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:34:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:34:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:34:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039373m	[env.py: 870]
-05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:34:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90797191  0.8548314  -0.0393734 ] yaw=-162.6deg	[env.py: 1019]
-05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96116536  0.82980875 -0.0393734 ] yaw=-160.4deg	[env.py: 1019]
-05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97326435  0.39354189 -0.0393734 ] yaw=167.3deg	[env.py: 1019]
-05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:34:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.3ms, total=211.4ms	[env.py: 1075]
-05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.908, 0.855, -0.039)	[env.py: 1079]
-05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.6 deg	[env.py: 1082]
-05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
-05/10 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:34:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:34:13 INFO: [Worker 0] Worker 0 house 1 episode 137/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:34:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:34:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:34:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:34:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:34:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.550s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:34:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.477[m] 95.201[deg]	[grasp_sample.py: 539]
-05/10 09:34:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:34:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:34:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:34:24 INFO: [Worker 0] Saved videos eagerly for episode 105 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:34:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 09:34:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:34:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:34:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:34:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.64s (batch: 4.55s, save: 10.08s)	[pipeline.py: 300]
-05/10 09:34:40 INFO: [Worker 0] [PROFILE] Episode 141 house 1 success=True episode_total=0.49s:
-  episode_total: mean=225.32s, total=225.32s, count=1, min=225320.1ms, max=225320.1ms
-  sensor_polling: mean=575.0ms, total=172.51s, count=300, min=467.8ms, max=1519.1ms
-  save_trajectories: mean=10.08s, total=10.08s, count=1, min=10082.2ms, max=10082.2ms
-  physics_step: mean=30.5ms, total=9.14s, count=300, min=17.3ms, max=148.5ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4552.9ms, max=4552.9ms
-  task_sampling: mean=487.8ms, total=487.8ms, count=1, min=487.8ms, max=487.8ms
-  task_specific_sample: mean=483.6ms, total=483.6ms, count=1, min=483.6ms, max=483.6ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=473.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=25.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:34:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:34:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:34:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:34:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:34:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:34:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:34:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:34:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:34:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040600m	[env.py: 870]
-05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:34:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69974809  0.05986591 -0.04059987] yaw=152.2deg	[env.py: 1019]
-05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9256714   0.7681008  -0.04059987] yaw=-152.1deg	[env.py: 1019]
-05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90747678  0.39461935 -0.04059987] yaw=184.4deg	[env.py: 1019]
-05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:34:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.8ms, total=114.9ms	[env.py: 1075]
-05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.700, 0.060, -0.041)	[env.py: 1079]
-05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.2 deg	[env.py: 1082]
-05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
-05/10 09:34:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:34:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:34:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:34:42 INFO: [Worker 0] Worker 0 house 1 episode 142/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:34:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:34:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:34:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:34:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:34:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.793s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:34:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.651[m] 94.555[deg]	[grasp_sample.py: 539]
-05/10 09:34:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:34:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:34:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:35:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:35:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:35:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:35:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:35:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:35:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:35:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:35:33 INFO: [Worker 0] Worker 0 house 1 episode 146 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:35:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:35:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:35:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:35:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:35:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:35:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:35:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:35:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:35:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:35:41 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.429s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:35:41 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.408[deg]	[grasp_sample.py: 539]
-05/10 09:35:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:35:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:35:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:35:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:36:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:36:02 INFO: [Worker 0] Saved videos eagerly for episode 94 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:36:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 09:36:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:36:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:36:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:36:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:36:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:36:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:36:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:36:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.89s (batch: 5.27s, save: 10.62s)	[pipeline.py: 300]
-05/10 09:36:19 INFO: [Worker 0] [PROFILE] Episode 146 house 1 success=True episode_total=1.49s:
-  episode_total: mean=135.53s, total=406.60s, count=3, min=2292.2ms, max=221887.2ms
-  sensor_polling: mean=546.4ms, total=308.72s, count=565, min=457.5ms, max=1100.7ms
-  physics_step: mean=27.6ms, total=15.59s, count=565, min=16.7ms, max=81.3ms
-  save_trajectories: mean=10.62s, total=10.62s, count=1, min=10621.8ms, max=10621.8ms
-  save_batch_prep: mean=5.27s, total=5.27s, count=1, min=5268.1ms, max=5268.1ms
-  task_sampling: mean=497.2ms, total=1.49s, count=3, min=453.6ms, max=554.9ms
-  task_specific_sample: mean=493.1ms, total=1.48s, count=3, min=450.1ms, max=550.5ms
-  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.3ms, max=2.9ms
-  mj_forward_sync: mean=564.5us, total=1.7ms, count=3, min=0.5ms, max=0.6ms
-  policy_setup: mean=17.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:36:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:36:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:36:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:36:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:36:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:36:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:36:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:36:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:36:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036454m	[env.py: 870]
-05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:36:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82383296  0.99405417  0.03645379] yaw=-138.6deg	[env.py: 1019]
-05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91690636  0.92686009  0.03645379] yaw=-157.1deg	[env.py: 1019]
-05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.84291668  0.09889321  0.03645379] yaw=156.5deg	[env.py: 1019]
-05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:36:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=266.0ms, total=266.1ms	[env.py: 1075]
-05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.824, 0.994, 0.036)	[env.py: 1079]
-05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.6 deg	[env.py: 1082]
-05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
-05/10 09:36:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:36:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:36:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:36:22 INFO: [Worker 0] Worker 0 house 1 episode 147/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:36:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:36:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:36:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:36:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:36:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.873s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:36:24 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.620[m] 93.835[deg]	[grasp_sample.py: 539]
-05/10 09:36:25 ERROR: [Worker 0] Worker 0 house 1 episode 147 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 09:36:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:36:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:36:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:36:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:36:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:36:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:36:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:36:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:36:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049411m	[env.py: 870]
-05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:36:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 131.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12019212  1.13633248  0.04941085] yaw=-124.4deg	[env.py: 1019]
-05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68665027  0.12830798  0.04941085] yaw=166.2deg	[env.py: 1019]
-05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79590286  0.58029618  0.04941085] yaw=-178.6deg	[env.py: 1019]
-05/10 09:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:36:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.2ms, total=140.2ms	[env.py: 1075]
-05/10 09:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.120, 1.136, 0.049)	[env.py: 1079]
-05/10 09:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.4 deg	[env.py: 1082]
-05/10 09:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
-05/10 09:36:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:36:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:36:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:36:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:36:28 INFO: [Worker 0] Worker 0 house 1 episode 138 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:36:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:36:28 INFO: [Worker 0] Worker 0 house 1 episode 148/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:36:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:36:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:36:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:36:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:36:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.869s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:36:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.447[m] 87.916[deg]	[grasp_sample.py: 539]
-05/10 09:36:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:36:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:36:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:36:58 INFO: [Worker 0] Saved videos eagerly for episode 103 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:36:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 09:36:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:37:11 INFO: [Worker 0] Worker 0 house 1 episode 137 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:37:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:37:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:37:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.61s (batch: 5.23s, save: 10.38s)	[pipeline.py: 300]
-05/10 09:37:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:37:14 INFO: [Worker 0] [PROFILE] Episode 138 house 1 success=True episode_total=0.77s:
-  episode_total: mean=245.66s, total=245.66s, count=1, min=245660.1ms, max=245660.1ms
-  sensor_polling: mean=556.7ms, total=167.01s, count=300, min=470.0ms, max=1118.4ms
-  save_trajectories: mean=10.38s, total=10.38s, count=1, min=10378.4ms, max=10378.4ms
-  physics_step: mean=26.3ms, total=7.90s, count=300, min=19.5ms, max=94.6ms
-  save_batch_prep: mean=5.23s, total=5.23s, count=1, min=5231.4ms, max=5231.4ms
-  task_sampling: mean=765.9ms, total=765.9ms, count=1, min=765.9ms, max=765.9ms
-  task_specific_sample: mean=761.5ms, total=761.5ms, count=1, min=761.5ms, max=761.5ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=554.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:37:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:37:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:37:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:37:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:37:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:37:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:37:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:37:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:37:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:37:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033019m	[env.py: 870]
-05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:37:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92750076  0.27208481  0.03301948] yaw=165.6deg	[env.py: 1019]
-05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02290224  0.66210193  0.03301948] yaw=-163.1deg	[env.py: 1019]
-05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.03005686  1.08421697  0.03301948] yaw=-126.8deg	[env.py: 1019]
-05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:37:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.4ms, total=183.4ms	[env.py: 1075]
-05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.928, 0.272, 0.033)	[env.py: 1079]
-05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.6 deg	[env.py: 1082]
-05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
-05/10 09:37:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:37:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:37:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:37:16 INFO: [Worker 0] Worker 0 house 1 episode 139/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:37:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:37:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:37:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:37:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:37:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.540s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:37:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.345[m] 91.448[deg]	[grasp_sample.py: 539]
-05/10 09:37:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:37:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:37:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:37:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:37:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:37:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:37:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:37:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:37:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:37:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:37:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:37:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:37:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:37:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:37:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:37:31 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.835s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:37:31 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.150[deg]	[grasp_sample.py: 539]
-05/10 09:37:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:37:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:37:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:37:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:37:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:37:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:37:42 INFO: [Worker 0] Saved videos eagerly for episode 101 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:37:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 09:37:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:37:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:37:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:37:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:37:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:37:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.10s (batch: 4.86s, save: 11.24s)	[pipeline.py: 300]
-05/10 09:37:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:37:59 INFO: [Worker 0] [PROFILE] Episode 137 house 1 success=True episode_total=0.58s:
-  episode_total: mean=225.83s, total=225.83s, count=1, min=225833.6ms, max=225833.6ms
-  sensor_polling: mean=551.0ms, total=165.30s, count=300, min=459.2ms, max=1098.6ms
-  save_trajectories: mean=11.24s, total=11.24s, count=1, min=11239.3ms, max=11239.3ms
-  physics_step: mean=27.2ms, total=8.16s, count=300, min=16.2ms, max=147.3ms
-  save_batch_prep: mean=4.86s, total=4.86s, count=1, min=4861.7ms, max=4861.7ms
-  task_sampling: mean=576.3ms, total=576.3ms, count=1, min=576.3ms, max=576.3ms
-  task_specific_sample: mean=571.7ms, total=571.7ms, count=1, min=571.7ms, max=571.7ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=448.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:38:00 INFO: [Worker 0] Worker 0 house 1 episode 142 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 09:38:00 INFO: [Worker 0] [PROFILE] Episode 142 house 1 success=False episode_total=0.43s:
-  episode_total: mean=198.00s, total=198.00s, count=1, min=198004.4ms, max=198004.4ms
-  sensor_polling: mean=559.0ms, total=167.69s, count=300, min=478.9ms, max=992.5ms
-  physics_step: mean=28.9ms, total=8.66s, count=300, min=16.7ms, max=132.2ms
-  task_sampling: mean=429.9ms, total=429.9ms, count=1, min=429.9ms, max=429.9ms
-  task_specific_sample: mean=425.8ms, total=425.8ms, count=1, min=425.8ms, max=425.8ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=460.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:38:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:38:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:38:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:38:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:38:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:38:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:38:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:38:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:38:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:38:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:38:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035561m	[env.py: 870]
-05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:38:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07037951  0.82830414  0.03556096] yaw=-152.7deg	[env.py: 1019]
-05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.16289784  1.00559641  0.03556096] yaw=-129.3deg	[env.py: 1019]
-05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79035809  0.42593699  0.03556096] yaw=180.6deg	[env.py: 1019]
-05/10 09:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:38:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=191.6ms, total=191.6ms	[env.py: 1075]
-05/10 09:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.070, 0.828, 0.036)	[env.py: 1079]
-05/10 09:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.7 deg	[env.py: 1082]
-05/10 09:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.721m	[env.py: 1086]
-05/10 09:38:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:38:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:38:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:38:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:38:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:38:01 INFO: [Worker 0] Worker 0 house 1 episode 138/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:38:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:38:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:38:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:38:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:38:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:38:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:38:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:38:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:38:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:38:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:38:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:38:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:38:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003327m	[env.py: 870]
-05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:38:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0354662   0.81418115 -0.00332674] yaw=-143.2deg	[env.py: 1019]
-05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:38:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.192s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:38:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.318[m] 93.718[deg]	[grasp_sample.py: 539]
-05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91370775  0.71535657 -0.00332674] yaw=-165.1deg	[env.py: 1019]
-05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:38:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=479.5ms, total=479.6ms	[env.py: 1075]
-05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.035, 0.814, -0.003)	[env.py: 1079]
-05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.2 deg	[env.py: 1082]
-05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.745m	[env.py: 1086]
-05/10 09:38:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:38:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:38:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:38:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:38:03 INFO: [Worker 0] Worker 0 house 1 episode 143/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:38:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:38:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:38:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:38:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:38:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:38:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:38:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.171s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:38:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.288[m] 75.309[deg]	[grasp_sample.py: 539]
-05/10 09:38:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:38:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:38:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:38:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:38:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:38:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:38:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:38:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:38:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:38:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:38:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:38:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:39:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:39:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:39:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:39:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:39:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:39:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:39:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:39:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:39:16 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.373s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:39:16 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.118[m] 3.109[deg]	[grasp_sample.py: 539]
-05/10 09:39:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:39:17 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.018s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:39:17 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.603[deg]	[grasp_sample.py: 539]
-05/10 09:39:18 ERROR: [Worker 0] Worker 0 house 1 episode 148 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 09:39:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:39:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:39:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:39:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:39:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:39:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:39:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:39:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:39:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:39:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:39:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:39:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003868m	[env.py: 870]
-05/10 09:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:39:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84885519  0.4186167   0.00386792] yaw=183.5deg	[env.py: 1019]
-05/10 09:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.99265981  1.16508964  0.00386792] yaw=-145.0deg	[env.py: 1019]
-05/10 09:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:39:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=286.3ms, total=286.4ms	[env.py: 1075]
-05/10 09:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.849, 0.419, 0.004)	[env.py: 1079]
-05/10 09:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.5 deg	[env.py: 1082]
-05/10 09:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
-05/10 09:39:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:39:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:39:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:39:21 INFO: [Worker 0] Worker 0 house 1 episode 149/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:39:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:39:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:39:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:39:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:39:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.833s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:39:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.444[m] 94.236[deg]	[grasp_sample.py: 539]
-05/10 09:39:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:39:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:39:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:39:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:39:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:39:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:39:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:40:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:40:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:40:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:40:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:40:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:40:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:40:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:40:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:40:48 INFO: [Worker 0] Worker 0 house 1 episode 143 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:40:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:40:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:40:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:40:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:40:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:40:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:40:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:40:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 70 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:40:53 INFO: [Worker 0] Worker 0 house 1 episode 138 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:40:55 INFO: [Worker 0] Feasibility-checked 70 grasps in 3.107s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:40:55 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.598[deg]	[grasp_sample.py: 539]
-05/10 09:40:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:40:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:40:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:41:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:41:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:41:13 INFO: [Worker 0] Saved videos eagerly for episode 106 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:41:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 09:41:13 INFO: [Worker 0] Preparing episode data: 278 timesteps	[save_utils.py: 278]
-05/10 09:41:15 INFO: [Worker 0] Worker 0 house 1 episode 139 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:41:19 INFO: [Worker 0] Saved videos eagerly for episode 102 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:41:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 09:41:19 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
-05/10 09:41:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:41:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:41:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.02s (batch: 4.17s, save: 9.85s)	[pipeline.py: 300]
-05/10 09:41:27 INFO: [Worker 0] [PROFILE] Episode 143 house 1 success=True episode_total=0.81s:
-  episode_total: mean=205.58s, total=205.58s, count=1, min=205579.2ms, max=205579.2ms
-  sensor_polling: mean=549.1ms, total=152.11s, count=277, min=471.5ms, max=1075.3ms
-  save_trajectories: mean=9.85s, total=9.85s, count=1, min=9854.6ms, max=9854.6ms
-  physics_step: mean=27.7ms, total=7.67s, count=277, min=19.8ms, max=82.1ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4168.9ms, max=4168.9ms
-  task_sampling: mean=805.4ms, total=805.4ms, count=1, min=805.4ms, max=805.4ms
-  task_specific_sample: mean=800.8ms, total=800.8ms, count=1, min=800.8ms, max=800.8ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=649.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:41:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:41:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:41:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:41:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:41:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:41:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:41:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:41:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:41:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039870m	[env.py: 870]
-05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:41:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.09737504  0.92472694  0.03986952] yaw=-139.6deg	[env.py: 1019]
-05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74949539  0.47887117  0.03986952] yaw=182.7deg	[env.py: 1019]
-05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98173687  0.70163964  0.03986952] yaw=-163.5deg	[env.py: 1019]
-05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:41:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=226.8ms, total=226.8ms	[env.py: 1075]
-05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.097, 0.925, 0.040)	[env.py: 1079]
-05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.6 deg	[env.py: 1082]
-05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.750m	[env.py: 1086]
-05/10 09:41:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:41:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:41:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:41:30 INFO: [Worker 0] Worker 0 house 1 episode 144/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:41:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:41:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:41:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:41:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:41:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.580s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:41:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.335[m] 93.189[deg]	[grasp_sample.py: 539]
-05/10 09:41:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:41:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:41:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:41:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:41:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:41:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.55s (batch: 5.28s, save: 10.27s)	[pipeline.py: 300]
-05/10 09:41:35 INFO: [Worker 0] [PROFILE] Episode 138 house 1 success=True episode_total=0.49s:
-  episode_total: mean=214.52s, total=214.52s, count=1, min=214516.5ms, max=214516.5ms
-  sensor_polling: mean=555.8ms, total=158.97s, count=286, min=475.4ms, max=1104.0ms
-  save_trajectories: mean=10.27s, total=10.27s, count=1, min=10265.1ms, max=10265.1ms
-  physics_step: mean=27.6ms, total=7.89s, count=286, min=19.7ms, max=68.4ms
-  save_batch_prep: mean=5.28s, total=5.28s, count=1, min=5280.7ms, max=5280.7ms
-  task_sampling: mean=490.4ms, total=490.4ms, count=1, min=490.4ms, max=490.4ms
-  task_specific_sample: mean=485.5ms, total=485.5ms, count=1, min=485.5ms, max=485.5ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=625.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:41:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:41:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:41:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:41:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:41:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:41:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:41:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029637m	[env.py: 870]
-05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:41:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.76393618  0.17676484  0.0296374 ] yaw=162.9deg	[env.py: 1019]
-05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:41:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=234.0ms, total=234.0ms	[env.py: 1075]
-05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.764, 0.177, 0.030)	[env.py: 1079]
-05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.9 deg	[env.py: 1082]
-05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
-05/10 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:41:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:41:38 INFO: [Worker 0] Worker 0 house 1 episode 139/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:41:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:41:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:41:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:41:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:41:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.776s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:41:38 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.571[m] 93.307[deg]	[grasp_sample.py: 539]
-05/10 09:41:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:41:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:41:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:41:40 INFO: [Worker 0] Saved videos eagerly for episode 104 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:41:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 09:41:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:41:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:41:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:41:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.76s (batch: 4.31s, save: 9.45s)	[pipeline.py: 300]
-05/10 09:41:54 INFO: [Worker 0] [PROFILE] Episode 139 house 1 success=True episode_total=0.55s:
-  episode_total: mean=278.35s, total=278.35s, count=1, min=278353.6ms, max=278353.6ms
-  sensor_polling: mean=561.9ms, total=168.56s, count=300, min=465.0ms, max=970.6ms
-  save_trajectories: mean=9.45s, total=9.45s, count=1, min=9446.9ms, max=9446.9ms
-  physics_step: mean=29.0ms, total=8.70s, count=300, min=17.6ms, max=107.5ms
-  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4309.0ms, max=4309.0ms
-  task_sampling: mean=553.7ms, total=553.7ms, count=1, min=553.7ms, max=553.7ms
-  task_specific_sample: mean=549.7ms, total=549.7ms, count=1, min=549.7ms, max=549.7ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=457.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:41:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:41:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:41:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:41:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:41:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:41:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:41:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:41:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:41:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010824m	[env.py: 870]
-05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:41:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77378134  0.0271508  -0.01082401] yaw=159.3deg	[env.py: 1019]
-05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7473059   0.79713215 -0.01082401] yaw=-152.8deg	[env.py: 1019]
-05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06437758  0.88476164 -0.01082401] yaw=-146.5deg	[env.py: 1019]
-05/10 09:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:41:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=747.7ms, total=747.8ms	[env.py: 1075]
-05/10 09:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.774, 0.027, -0.011)	[env.py: 1079]
-05/10 09:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.3 deg	[env.py: 1082]
-05/10 09:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
-05/10 09:41:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:41:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:41:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:41:57 INFO: [Worker 0] Worker 0 house 1 episode 140/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:41:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:41:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:41:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:41:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:42:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.700s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:42:00 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.585[m] 85.134[deg]	[grasp_sample.py: 539]
-05/10 09:42:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:42:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:42:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:42:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:42:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:42:19 INFO: [Worker 0] Worker 0 house 1 episode 149 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:42:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:42:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:42:54 INFO: [Worker 0] Saved videos eagerly for episode 95 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:42:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 09:42:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:43:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:43:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:43:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:43:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:43:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.19s (batch: 5.55s, save: 9.64s)	[pipeline.py: 300]
-05/10 09:43:10 INFO: [Worker 0] [PROFILE] Episode 149 house 1 success=True episode_total=1.71s:
-  episode_total: mean=134.95s, total=404.84s, count=3, min=4183.2ms, max=229711.7ms
-  sensor_polling: mean=552.3ms, total=304.34s, count=551, min=458.0ms, max=1138.4ms
-  physics_step: mean=28.1ms, total=15.50s, count=551, min=19.5ms, max=78.3ms
-  save_trajectories: mean=9.64s, total=9.64s, count=1, min=9638.8ms, max=9638.8ms
-  save_batch_prep: mean=5.55s, total=5.55s, count=1, min=5553.1ms, max=5553.1ms
-  task_sampling: mean=570.0ms, total=1.71s, count=3, min=476.0ms, max=645.9ms
-  task_specific_sample: mean=566.2ms, total=1.70s, count=3, min=472.3ms, max=640.9ms
-  scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.4ms, max=3.3ms
-  mj_forward_sync: mean=538.6us, total=1.6ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=19.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:43:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:43:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:43:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:43:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:43:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:43:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:43:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:43:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:43:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:43:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:43:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019317m	[env.py: 870]
-05/10 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:43:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72661116  0.50750339 -0.01931665] yaw=-183.1deg	[env.py: 1019]
-05/10 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09239653  1.16799333 -0.01931665] yaw=-131.0deg	[env.py: 1019]
-05/10 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92085612  1.17598708 -0.01931665] yaw=-136.4deg	[env.py: 1019]
-05/10 09:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:43:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=340.7ms, total=340.7ms	[env.py: 1075]
-05/10 09:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.508, -0.019)	[env.py: 1079]
-05/10 09:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.1 deg	[env.py: 1082]
-05/10 09:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
-05/10 09:43:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:43:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:43:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:43:13 INFO: [Worker 0] Worker 0 house 1 episode 150/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:43:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.149s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:43:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:43:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:43:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:43:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:43:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.842s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:43:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.520[m] 87.400[deg]	[grasp_sample.py: 539]
-05/10 09:43:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:43:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:43:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:43:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:43:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:44:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:44:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:44:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:44:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:44:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:44:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:44:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:44:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:44:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:44:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:44:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:44:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:44:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:44:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:44:25 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.585s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:44:25 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.301[deg]	[grasp_sample.py: 539]
-05/10 09:44:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:44:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:44:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:44:27 INFO: [Worker 0] Worker 0 house 1 episode 144 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:44:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:44:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:44:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:44:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:44:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:44:55 INFO: [Worker 0] Saved videos eagerly for episode 107 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:44:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 09:44:55 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
-05/10 09:45:08 INFO: [Worker 0] Worker 0 house 1 episode 140 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:45:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:45:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:45:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.69s (batch: 4.35s, save: 9.35s)	[pipeline.py: 300]
-05/10 09:45:10 INFO: [Worker 0] [PROFILE] Episode 144 house 1 success=True episode_total=0.65s:
-  episode_total: mean=220.63s, total=220.63s, count=1, min=220628.9ms, max=220628.9ms
-  sensor_polling: mean=567.1ms, total=163.89s, count=289, min=467.7ms, max=1127.6ms
-  save_trajectories: mean=9.35s, total=9.35s, count=1, min=9348.0ms, max=9348.0ms
-  physics_step: mean=28.8ms, total=8.33s, count=289, min=19.9ms, max=93.3ms
-  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4345.1ms, max=4345.1ms
-  task_sampling: mean=649.3ms, total=649.3ms, count=1, min=649.3ms, max=649.3ms
-  task_specific_sample: mean=644.8ms, total=644.8ms, count=1, min=644.8ms, max=644.8ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=639.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:45:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:45:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:45:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:45:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:45:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:45:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:45:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:45:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:45:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:45:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:45:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014776m	[env.py: 870]
-05/10 09:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:45:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78917369  0.55068151  0.01477554] yaw=-176.2deg	[env.py: 1019]
-05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07418468  1.25813855  0.01477554] yaw=-126.2deg	[env.py: 1019]
-05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:45:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.6ms, total=187.6ms	[env.py: 1075]
-05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.789, 0.551, 0.015)	[env.py: 1079]
-05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.2 deg	[env.py: 1082]
-05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
-05/10 09:45:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:45:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:45:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:45:12 INFO: [Worker 0] Worker 0 house 1 episode 145/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:45:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:45:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:45:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:45:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:45:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:45:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.496[m] 95.961[deg]	[grasp_sample.py: 539]
-05/10 09:45:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:45:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:45:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:45:19 INFO: [Worker 0] Worker 0 house 1 episode 139 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:45:31 INFO: [Worker 0] Saved videos eagerly for episode 105 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:45:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 09:45:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:45:43 INFO: [Worker 0] Saved videos eagerly for episode 103 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:45:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 09:45:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:45:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:45:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:45:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.85s (batch: 4.61s, save: 9.24s)	[pipeline.py: 300]
-05/10 09:45:45 INFO: [Worker 0] [PROFILE] Episode 140 house 1 success=True episode_total=1.15s:
-  episode_total: mean=228.99s, total=228.99s, count=1, min=228985.5ms, max=228985.5ms
-  sensor_polling: mean=579.9ms, total=173.98s, count=300, min=474.2ms, max=1226.5ms
-  save_trajectories: mean=9.24s, total=9.24s, count=1, min=9236.2ms, max=9236.2ms
-  physics_step: mean=29.6ms, total=8.89s, count=300, min=20.0ms, max=131.6ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4612.8ms, max=4612.8ms
-  task_sampling: mean=1.15s, total=1.15s, count=1, min=1149.4ms, max=1149.4ms
-  task_specific_sample: mean=1.14s, total=1.14s, count=1, min=1142.6ms, max=1142.6ms
-  scene_randomize: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
-  mj_forward_sync: mean=725.4us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:45:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:45:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:45:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:45:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:45:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:45:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:45:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:45:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:45:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.010m, effective arm-mount z=0.850m (base_body_z=-0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009529m	[env.py: 870]
-05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:45:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.19213353  1.03392885 -0.00952875] yaw=-139.7deg	[env.py: 1019]
-05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74948101  0.79923651 -0.00952875] yaw=-162.5deg	[env.py: 1019]
-05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68429115  0.50236033 -0.00952875] yaw=-176.0deg	[env.py: 1019]
-05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:45:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.9ms, total=224.0ms	[env.py: 1075]
-05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.192, 1.034, -0.010)	[env.py: 1079]
-05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.7 deg	[env.py: 1082]
-05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
-05/10 09:45:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:45:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:45:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:45:47 INFO: [Worker 0] Worker 0 house 1 episode 141/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:45:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:45:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:45:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:45:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:45:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.538s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:45:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.325[m] 77.388[deg]	[grasp_sample.py: 539]
-05/10 09:45:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:45:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:45:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:45:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:45:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:45:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.36s (batch: 4.67s, save: 9.69s)	[pipeline.py: 300]
-05/10 09:45:58 INFO: [Worker 0] [PROFILE] Episode 139 house 1 success=True episode_total=0.56s:
-  episode_total: mean=261.07s, total=261.07s, count=1, min=261071.3ms, max=261071.3ms
-  sensor_polling: mean=576.9ms, total=173.07s, count=300, min=471.1ms, max=1022.5ms
-  save_trajectories: mean=9.69s, total=9.69s, count=1, min=9690.7ms, max=9690.7ms
-  physics_step: mean=27.3ms, total=8.18s, count=300, min=15.9ms, max=138.2ms
-  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4665.2ms, max=4665.2ms
-  task_sampling: mean=563.8ms, total=563.8ms, count=1, min=563.8ms, max=563.8ms
-  task_specific_sample: mean=558.6ms, total=558.6ms, count=1, min=558.6ms, max=558.6ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=743.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:46:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:46:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:46:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:46:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:46:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:46:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:46:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:46:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:46:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028997m	[env.py: 870]
-05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:46:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94141841  0.10682752  0.02899746] yaw=146.3deg	[env.py: 1019]
-05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1429401   1.07650285  0.02899746] yaw=-143.9deg	[env.py: 1019]
-05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95272382  0.72007238  0.02899746] yaw=-165.3deg	[env.py: 1019]
-05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:46:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.7ms, total=95.7ms	[env.py: 1075]
-05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.107, 0.029)	[env.py: 1079]
-05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.3 deg	[env.py: 1082]
-05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
-05/10 09:46:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:46:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:46:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:46:00 INFO: [Worker 0] Worker 0 house 1 episode 140/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:46:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:46:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:46:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:46:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:46:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.385s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:46:02 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.423[m] 93.448[deg]	[grasp_sample.py: 539]
-05/10 09:46:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:46:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:46:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:46:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:46:10 INFO: [Worker 0] Worker 0 house 1 episode 150 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:46:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:46:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:46:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:46:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:46:40 INFO: [Worker 0] Saved videos eagerly for episode 96 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:46:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 09:46:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:46:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:46:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:46:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:46:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:46:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.19s (batch: 4.72s, save: 11.47s)	[pipeline.py: 300]
-05/10 09:46:57 INFO: [Worker 0] [PROFILE] Episode 150 house 1 success=True episode_total=0.67s:
-  episode_total: mean=225.05s, total=225.05s, count=1, min=225053.0ms, max=225053.0ms
-  sensor_polling: mean=544.5ms, total=163.36s, count=300, min=461.2ms, max=1001.9ms
-  save_trajectories: mean=11.47s, total=11.47s, count=1, min=11470.3ms, max=11470.3ms
-  physics_step: mean=28.8ms, total=8.63s, count=300, min=19.2ms, max=142.3ms
-  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4724.2ms, max=4724.2ms
-  task_sampling: mean=667.3ms, total=667.3ms, count=1, min=667.3ms, max=667.3ms
-  task_specific_sample: mean=662.7ms, total=662.7ms, count=1, min=662.7ms, max=662.7ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=567.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:46:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:46:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:46:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:46:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:46:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:46:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:46:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:46:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:46:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025149m	[env.py: 870]
-05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:46:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7442709  -0.03369161 -0.02514889] yaw=158.4deg	[env.py: 1019]
-05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:46:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.6ms, total=218.7ms	[env.py: 1075]
-05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.744, -0.034, -0.025)	[env.py: 1079]
-05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.4 deg	[env.py: 1082]
-05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
-05/10 09:46:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:46:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:47:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:47:00 INFO: [Worker 0] Worker 0 house 1 episode 151/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:47:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:47:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:47:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:47:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:47:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.880s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:47:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.641[m] 87.843[deg]	[grasp_sample.py: 539]
-05/10 09:47:03 ERROR: [Worker 0] Worker 0 house 1 episode 151 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 09:47:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:47:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:47:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:47:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:47:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:47:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:47:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:47:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:47:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:47:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:47:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036780m	[env.py: 870]
-05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:47:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.17078517  1.05249046  0.03678047] yaw=-142.9deg	[env.py: 1019]
-05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86904464  0.84794441  0.03678047] yaw=-156.8deg	[env.py: 1019]
-05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:47:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81562446  0.2032688   0.03678047] yaw=155.5deg	[env.py: 1019]
-05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:47:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=516.4ms, total=516.4ms	[env.py: 1075]
-05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.171, 1.052, 0.037)	[env.py: 1079]
-05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.9 deg	[env.py: 1082]
-05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m	[env.py: 1086]
-05/10 09:47:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:47:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:47:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:47:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:47:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:47:06 INFO: [Worker 0] Worker 0 house 1 episode 152/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:47:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:47:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:47:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:47:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:47:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.530s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:47:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.385[m] 91.524[deg]	[grasp_sample.py: 539]
-05/10 09:47:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:47:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:47:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:47:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:47:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:48:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:48:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:48:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:14 INFO: [Worker 0] Worker 0 house 1 episode 145 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:48:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:48:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:48:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:48:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:48:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:48:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.972s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:48:30 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.005[deg]	[grasp_sample.py: 539]
-05/10 09:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:32 ERROR: [Worker 0] Worker 0 house 1 episode 141 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 09:48:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:48:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:48:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:48:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:48:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:48:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:48:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:48:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:48:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:48:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:48:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:48:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:48:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:48:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011882m	[env.py: 870]
-05/10 09:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:48:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:48:33 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.477s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:48:33 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.135[deg]	[grasp_sample.py: 539]
-05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85391451  1.03221048  0.01188207] yaw=-137.5deg	[env.py: 1019]
-05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01702695  0.111205    0.01188207] yaw=149.7deg	[env.py: 1019]
-05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91510617  1.2006811   0.01188207] yaw=-135.2deg	[env.py: 1019]
-05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:48:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=239.8ms, total=239.9ms	[env.py: 1075]
-05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.854, 1.032, 0.012)	[env.py: 1079]
-05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.5 deg	[env.py: 1082]
-05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
-05/10 09:48:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:48:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:48:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:48:34 INFO: [Worker 0] Worker 0 house 1 episode 142/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:48:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:48:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:48:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:48:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:48:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:48:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:48:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:48:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.814s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:48:36 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.564[m] 83.631[deg]	[grasp_sample.py: 539]
-05/10 09:48:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:48:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:48:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:48:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:42 INFO: [Worker 0] Saved videos eagerly for episode 108 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:48:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 09:48:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:48:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:48:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:48:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:48:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:48:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.85s (batch: 4.69s, save: 10.16s)	[pipeline.py: 300]
-05/10 09:48:57 INFO: [Worker 0] [PROFILE] Episode 145 house 1 success=True episode_total=0.50s:
-  episode_total: mean=225.79s, total=225.79s, count=1, min=225786.9ms, max=225786.9ms
-  sensor_polling: mean=558.7ms, total=167.60s, count=300, min=453.9ms, max=971.8ms
-  save_trajectories: mean=10.16s, total=10.16s, count=1, min=10161.0ms, max=10161.0ms
-  physics_step: mean=27.4ms, total=8.23s, count=300, min=17.3ms, max=87.7ms
-  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4691.1ms, max=4691.1ms
-  task_sampling: mean=496.9ms, total=496.9ms, count=1, min=496.9ms, max=496.9ms
-  task_specific_sample: mean=493.0ms, total=493.0ms, count=1, min=493.0ms, max=493.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=430.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:48:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:48:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:48:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:48:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:48:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:48:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:48:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:48:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:48:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020944m	[env.py: 870]
-05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:48:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82011448  0.9152325  -0.02094412] yaw=-159.7deg	[env.py: 1019]
-05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73801982  0.23968869 -0.02094412] yaw=168.6deg	[env.py: 1019]
-05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90426822  0.8584919  -0.02094412] yaw=-149.8deg	[env.py: 1019]
-05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:48:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.1ms, total=177.2ms	[env.py: 1075]
-05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.820, 0.915, -0.021)	[env.py: 1079]
-05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.7 deg	[env.py: 1082]
-05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
-05/10 09:48:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:48:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:49:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:49:00 INFO: [Worker 0] Worker 0 house 1 episode 146/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:49:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:49:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:49:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:49:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:49:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:49:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.817s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:49:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.602[m] 96.668[deg]	[grasp_sample.py: 539]
-05/10 09:49:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:49:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:49:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:49:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:49:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:49:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:49:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:49:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:49:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:49:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:49:31 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 09:49:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:49:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:49:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:49:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 74 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:49:33 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.913s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:49:33 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.027[m] 3.661[deg]	[grasp_sample.py: 539]
-05/10 09:49:34 ERROR: [Worker 0] Worker 0 house 1 episode 140 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 09:49:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:49:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:49:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:49:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:49:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:49:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:49:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:49:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:49:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024068m	[env.py: 870]
-05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:49:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74919598  0.66077751  0.02406839] yaw=-160.0deg	[env.py: 1019]
-05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97483032  0.83568629  0.02406839] yaw=-155.7deg	[env.py: 1019]
-05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:49:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=358.7ms, total=358.7ms	[env.py: 1075]
-05/10 09:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.661, 0.024)	[env.py: 1079]
-05/10 09:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.0 deg	[env.py: 1082]
-05/10 09:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m	[env.py: 1086]
-05/10 09:49:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:49:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:49:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:49:37 INFO: [Worker 0] Worker 0 house 1 episode 141/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:49:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:49:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:49:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:49:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:49:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.763s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:49:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.538[m] 92.162[deg]	[grasp_sample.py: 539]
-05/10 09:49:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:49:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:49:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:49:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:49:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:49:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:49:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:49:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:49:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:49:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:49:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:49:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:49:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:49:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:49:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:49:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:49:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:49:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:49:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:49:59 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.857s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:49:59 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.409[deg]	[grasp_sample.py: 539]
-05/10 09:50:01 ERROR: [Worker 0] Worker 0 house 1 episode 152 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 09:50:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:50:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:50:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:50:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:50:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:50:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:50:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:50:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:50:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:50:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:50:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005891m	[env.py: 870]
-05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:50:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00078178  0.3280613   0.00589094] yaw=176.9deg	[env.py: 1019]
-05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8924885   0.11361652  0.00589094] yaw=154.9deg	[env.py: 1019]
-05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.13264761  0.93193622  0.00589094] yaw=-150.1deg	[env.py: 1019]
-05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:50:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.5ms, total=164.5ms	[env.py: 1075]
-05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.001, 0.328, 0.006)	[env.py: 1079]
-05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.9 deg	[env.py: 1082]
-05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.718m	[env.py: 1086]
-05/10 09:50:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:50:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:50:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:50:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:50:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:50:04 INFO: [Worker 0] Worker 0 house 1 episode 153/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:50:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:50:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:50:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:50:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:50:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:50:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.275[m] 80.087[deg]	[grasp_sample.py: 539]
-05/10 09:50:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:50:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:50:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:50:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:50:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:50:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:50:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:50:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:50:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:50:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:50:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:50:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:51:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:51:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:51:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:51:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:51:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:51:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:51:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:51:33 INFO: [Worker 0] Worker 0 house 1 episode 142 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:51:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:51:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:51:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:51:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:51:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:51:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:51:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.444s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:51:34 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.447[deg]	[grasp_sample.py: 539]
-05/10 09:51:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:51:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:51:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:51:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:51:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:51:58 INFO: [Worker 0] Saved videos eagerly for episode 106 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:51:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 09:51:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:52:00 INFO: [Worker 0] Worker 0 house 1 episode 146 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:52:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:52:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:52:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:52:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.68s (batch: 4.53s, save: 10.15s)	[pipeline.py: 300]
-05/10 09:52:14 INFO: [Worker 0] [PROFILE] Episode 142 house 1 success=True episode_total=1.08s:
-  episode_total: mean=192.41s, total=384.81s, count=2, min=164754.5ms, max=220055.6ms
-  sensor_polling: mean=549.4ms, total=300.54s, count=547, min=458.0ms, max=1005.8ms
-  physics_step: mean=28.4ms, total=15.54s, count=547, min=17.0ms, max=121.4ms
-  save_trajectories: mean=10.15s, total=10.15s, count=1, min=10146.3ms, max=10146.3ms
-  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4532.3ms, max=4532.3ms
-  task_sampling: mean=540.1ms, total=1.08s, count=2, min=527.9ms, max=552.3ms
-  task_specific_sample: mean=535.4ms, total=1.07s, count=2, min=522.3ms, max=548.5ms
-  scene_randomize: mean=3.0ms, total=6.1ms, count=2, min=2.5ms, max=3.6ms
-  mj_forward_sync: mean=500.7us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:52:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:52:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:52:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:52:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:52:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:52:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:52:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:52:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:52:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005322m	[env.py: 870]
-05/10 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:52:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04198614  0.81243024 -0.00532211] yaw=-148.6deg	[env.py: 1019]
-05/10 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72557853  0.95905642 -0.00532211] yaw=-153.9deg	[env.py: 1019]
-05/10 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78294916  0.01056013 -0.00532211] yaw=143.7deg	[env.py: 1019]
-05/10 09:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:52:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=138.1ms, total=138.1ms	[env.py: 1075]
-05/10 09:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.042, 0.812, -0.005)	[env.py: 1079]
-05/10 09:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.6 deg	[env.py: 1082]
-05/10 09:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.738m	[env.py: 1086]
-05/10 09:52:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:52:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:52:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:52:16 INFO: [Worker 0] Worker 0 house 1 episode 143/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:52:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:52:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:52:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:52:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:52:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.589s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:52:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.264[m] 72.924[deg]	[grasp_sample.py: 539]
-05/10 09:52:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:52:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:52:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:52:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:52:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:52:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:52:27 INFO: [Worker 0] Saved videos eagerly for episode 109 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:52:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 09:52:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:52:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:52:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:52:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:52:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:52:33 INFO: [Worker 0] Worker 0 house 1 episode 141 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:52:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:52:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:52:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.31s (batch: 4.67s, save: 12.64s)	[pipeline.py: 300]
-05/10 09:52:45 INFO: [Worker 0] [PROFILE] Episode 146 house 1 success=True episode_total=0.48s:
-  episode_total: mean=226.06s, total=226.06s, count=1, min=226063.6ms, max=226063.6ms
-  sensor_polling: mean=553.8ms, total=166.13s, count=300, min=463.9ms, max=947.7ms
-  save_trajectories: mean=12.64s, total=12.64s, count=1, min=12637.4ms, max=12637.4ms
-  physics_step: mean=27.8ms, total=8.35s, count=300, min=19.8ms, max=68.7ms
-  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4670.9ms, max=4670.9ms
-  task_sampling: mean=484.7ms, total=484.7ms, count=1, min=484.7ms, max=484.7ms
-  task_specific_sample: mean=479.7ms, total=479.7ms, count=1, min=479.7ms, max=479.7ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=638.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:52:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:52:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:52:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:52:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:52:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:52:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:52:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:52:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:52:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:52:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039980m	[env.py: 870]
-05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:52:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.11017801  0.88586912 -0.03997969] yaw=-139.4deg	[env.py: 1019]
-05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 129.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76013596  0.86402957 -0.03997969] yaw=-152.3deg	[env.py: 1019]
-05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73059748  0.21653558 -0.03997969] yaw=167.3deg	[env.py: 1019]
-05/10 09:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:52:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=508.9ms, total=508.9ms	[env.py: 1075]
-05/10 09:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.110, 0.886, -0.040)	[env.py: 1079]
-05/10 09:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.4 deg	[env.py: 1082]
-05/10 09:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.717m	[env.py: 1086]
-05/10 09:52:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:52:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:52:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:52:48 INFO: [Worker 0] Worker 0 house 1 episode 147/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:52:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:52:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:52:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:52:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:52:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:52:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.252[m] 76.649[deg]	[grasp_sample.py: 539]
-05/10 09:52:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:52:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:52:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:52:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:53:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:53:03 INFO: [Worker 0] Saved videos eagerly for episode 104 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:53:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 09:53:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:53:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:53:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:53:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:53:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:53:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:53:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:53:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:53:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:53:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:53:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.73s (batch: 4.99s, save: 10.74s)	[pipeline.py: 300]
-05/10 09:53:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:53:20 INFO: [Worker 0] [PROFILE] Episode 141 house 1 success=True episode_total=1.18s:
-  episode_total: mean=219.06s, total=438.12s, count=2, min=214282.5ms, max=223834.5ms
-  sensor_polling: mean=558.9ms, total=325.30s, count=582, min=456.1ms, max=1127.4ms
-  physics_step: mean=27.5ms, total=16.00s, count=582, min=15.8ms, max=94.6ms
-  save_trajectories: mean=10.74s, total=10.74s, count=1, min=10742.9ms, max=10742.9ms
-  save_batch_prep: mean=4.99s, total=4.99s, count=1, min=4991.4ms, max=4991.4ms
-  task_sampling: mean=590.6ms, total=1.18s, count=2, min=488.3ms, max=692.9ms
-  task_specific_sample: mean=586.5ms, total=1.17s, count=2, min=483.8ms, max=689.1ms
-  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.6ms, max=2.9ms
-  mj_forward_sync: mean=545.1us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=18.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:53:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 09:53:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 09:53:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 09:53:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:53:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:53:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:53:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:53:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:53:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:53:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:53:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:53:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:53:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:53:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:53:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:53:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:53:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020942m	[env.py: 870]
-05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:53:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80961595  0.79759765 -0.02094208] yaw=-159.6deg	[env.py: 1019]
-05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98068372  1.12924036 -0.02094208] yaw=-130.7deg	[env.py: 1019]
-05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74965571  0.00207744 -0.02094208] yaw=163.4deg	[env.py: 1019]
-05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:53:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.3ms, total=97.4ms	[env.py: 1075]
-05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.810, 0.798, -0.021)	[env.py: 1079]
-05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.6 deg	[env.py: 1082]
-05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
-05/10 09:53:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:53:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:53:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:53:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:53:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:53:22 INFO: [Worker 0] Worker 0 house 1 episode 142/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:53:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:53:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:53:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:53:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:53:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.753s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:53:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.493[m] 81.692[deg]	[grasp_sample.py: 539]
-05/10 09:53:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:53:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:53:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:53:25 INFO: [Worker 0] Feasibility-checked 78 grasps in 3.787s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:53:25 INFO: [Worker 0] Feasible grasp found 147 (originally 32): w/ 0.108[m] 1.859[deg]	[grasp_sample.py: 539]
-05/10 09:53:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:53:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:53:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:53:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:53:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:53:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:53:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:53:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:54:00 INFO: [Worker 0] Worker 0 house 1 episode 153 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:54:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:54:31 INFO: [Worker 0] Saved videos eagerly for episode 97 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:54:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 09:54:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:54:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:54:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:54:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:54:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:54:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.17s (batch: 4.66s, save: 9.51s)	[pipeline.py: 300]
-05/10 09:54:47 INFO: [Worker 0] [PROFILE] Episode 153 house 1 success=True episode_total=2.08s:
-  episode_total: mean=154.52s, total=463.57s, count=3, min=3785.9ms, max=283411.5ms
-  sensor_polling: mean=559.1ms, total=311.43s, count=557, min=470.9ms, max=950.7ms
-  physics_step: mean=27.3ms, total=15.20s, count=557, min=16.0ms, max=100.3ms
-  save_trajectories: mean=9.51s, total=9.51s, count=1, min=9508.6ms, max=9508.6ms
-  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4664.1ms, max=4664.1ms
-  task_sampling: mean=691.8ms, total=2.08s, count=3, min=452.5ms, max=1069.2ms
-  task_specific_sample: mean=687.7ms, total=2.06s, count=3, min=448.3ms, max=1065.1ms
-  scene_randomize: mean=2.2ms, total=6.7ms, count=3, min=1.5ms, max=2.6ms
-  mj_forward_sync: mean=557.8us, total=1.7ms, count=3, min=0.5ms, max=0.6ms
-  policy_setup: mean=20.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:54:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:54:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:54:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:54:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:54:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:54:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:54:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:54:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:54:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005087m	[env.py: 870]
-05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:54:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.6522431   0.19600408  0.00508719] yaw=172.7deg	[env.py: 1019]
-05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91841964  1.1237608   0.00508719] yaw=-134.7deg	[env.py: 1019]
-05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68891857  0.11743439  0.00508719] yaw=168.6deg	[env.py: 1019]
-05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:54:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.0ms, total=167.1ms	[env.py: 1075]
-05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.196, 0.005)	[env.py: 1079]
-05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.7 deg	[env.py: 1082]
-05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
-05/10 09:54:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:54:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:54:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:54:49 INFO: [Worker 0] Worker 0 house 1 episode 154/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:54:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:54:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:54:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:54:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:54:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.763s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:54:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.632[m] 83.910[deg]	[grasp_sample.py: 539]
-05/10 09:54:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:54:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:54:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:55:03 INFO: [Worker 0] Worker 0 house 1 episode 143 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:55:28 INFO: [Worker 0] Saved videos eagerly for episode 107 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:55:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 09:55:28 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
-05/10 09:55:34 INFO: [Worker 0] Worker 0 house 1 episode 147 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:55:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:55:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:55:42 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.94s (batch: 4.93s, save: 9.01s)	[pipeline.py: 300]
-05/10 09:55:43 INFO: [Worker 0] [PROFILE] Episode 143 house 1 success=True episode_total=0.44s:
-  episode_total: mean=207.87s, total=207.87s, count=1, min=207869.4ms, max=207869.4ms
-  sensor_polling: mean=568.6ms, total=154.67s, count=272, min=466.1ms, max=1032.7ms
-  save_trajectories: mean=9.01s, total=9.01s, count=1, min=9007.1ms, max=9007.1ms
-  physics_step: mean=29.3ms, total=7.98s, count=272, min=16.2ms, max=112.7ms
-  save_batch_prep: mean=4.93s, total=4.93s, count=1, min=4932.7ms, max=4932.7ms
-  task_sampling: mean=444.1ms, total=444.1ms, count=1, min=444.1ms, max=444.1ms
-  task_specific_sample: mean=439.1ms, total=439.1ms, count=1, min=439.1ms, max=439.1ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=645.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:55:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:55:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:55:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:55:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:55:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:55:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:55:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:55:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:55:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:55:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:55:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038028m	[env.py: 870]
-05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:55:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68570481  0.85996247 -0.03802758] yaw=-160.2deg	[env.py: 1019]
-05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86577679  0.79524394 -0.03802758] yaw=-166.0deg	[env.py: 1019]
-05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03423861  0.80705481 -0.03802758] yaw=-158.8deg	[env.py: 1019]
-05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:55:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.3ms, total=187.4ms	[env.py: 1075]
-05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.686, 0.860, -0.038)	[env.py: 1079]
-05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.2 deg	[env.py: 1082]
-05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
-05/10 09:55:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:55:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:55:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:55:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:55:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:55:46 INFO: [Worker 0] Worker 0 house 1 episode 144/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:55:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:55:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:55:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:55:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:55:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.272s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:55:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.630[m] 81.135[deg]	[grasp_sample.py: 539]
-05/10 09:55:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:55:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:55:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:56:01 INFO: [Worker 0] Saved videos eagerly for episode 110 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:56:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 09:56:01 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
-05/10 09:56:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:56:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:56:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:56:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.62s (batch: 5.19s, save: 8.43s)	[pipeline.py: 300]
-05/10 09:56:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:56:15 INFO: [Worker 0] [PROFILE] Episode 147 house 1 success=True episode_total=0.83s:
-  episode_total: mean=208.07s, total=208.07s, count=1, min=208074.6ms, max=208074.6ms
-  sensor_polling: mean=566.1ms, total=153.40s, count=271, min=469.6ms, max=1232.0ms
-  save_trajectories: mean=8.43s, total=8.43s, count=1, min=8431.4ms, max=8431.4ms
-  physics_step: mean=28.6ms, total=7.75s, count=271, min=18.8ms, max=115.4ms
-  save_batch_prep: mean=5.19s, total=5.19s, count=1, min=5186.5ms, max=5186.5ms
-  task_sampling: mean=825.1ms, total=825.1ms, count=1, min=825.1ms, max=825.1ms
-  task_specific_sample: mean=820.6ms, total=820.6ms, count=1, min=820.6ms, max=820.6ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=662.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:56:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:56:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:56:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:56:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:56:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:56:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:56:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:56:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:56:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017055m	[env.py: 870]
-05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:56:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72486247  0.36818561  0.0170548 ] yaw=180.2deg	[env.py: 1019]
-05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74537775  0.26081855  0.0170548 ] yaw=164.9deg	[env.py: 1019]
-05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87638431  0.45342827  0.0170548 ] yaw=171.2deg	[env.py: 1019]
-05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:56:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.8ms, total=174.8ms	[env.py: 1075]
-05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.725, 0.368, 0.017)	[env.py: 1079]
-05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.2 deg	[env.py: 1082]
-05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
-05/10 09:56:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:56:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:56:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:56:17 INFO: [Worker 0] Worker 0 house 1 episode 148/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:56:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:56:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:56:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:56:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:56:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.575s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:56:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.515[m] 85.914[deg]	[grasp_sample.py: 539]
-05/10 09:56:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:56:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:56:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:56:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:56:22 INFO: [Worker 0] Worker 0 house 1 episode 142 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:56:49 INFO: [Worker 0] Saved videos eagerly for episode 105 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:56:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 09:56:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:56:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:57:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:57:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:57:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.36s (batch: 4.49s, save: 11.87s)	[pipeline.py: 300]
-05/10 09:57:06 INFO: [Worker 0] [PROFILE] Episode 142 house 1 success=True episode_total=0.49s:
-  episode_total: mean=224.34s, total=224.34s, count=1, min=224339.9ms, max=224339.9ms
-  sensor_polling: mean=553.6ms, total=166.07s, count=300, min=464.6ms, max=1079.2ms
-  save_trajectories: mean=11.87s, total=11.87s, count=1, min=11870.0ms, max=11870.0ms
-  physics_step: mean=26.8ms, total=8.04s, count=300, min=19.5ms, max=89.5ms
-  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4493.1ms, max=4493.1ms
-  task_sampling: mean=488.9ms, total=488.9ms, count=1, min=488.9ms, max=488.9ms
-  task_specific_sample: mean=483.9ms, total=483.9ms, count=1, min=483.9ms, max=483.9ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=652.9us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:57:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:57:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:57:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:57:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:57:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:57:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:57:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:57:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:57:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021690m	[env.py: 870]
-05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:57:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95204173  0.62081115  0.02169032] yaw=-178.3deg	[env.py: 1019]
-05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77663681  0.62290092  0.02169032] yaw=-172.1deg	[env.py: 1019]
-05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08173172  0.97605608  0.02169032] yaw=-148.8deg	[env.py: 1019]
-05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:57:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=118.4ms, total=118.5ms	[env.py: 1075]
-05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.952, 0.621, 0.022)	[env.py: 1079]
-05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.3 deg	[env.py: 1082]
-05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.763m	[env.py: 1086]
-05/10 09:57:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:57:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:57:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:57:09 INFO: [Worker 0] Worker 0 house 1 episode 143/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:57:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:57:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:57:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:57:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:57:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:57:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.351[m] 91.927[deg]	[grasp_sample.py: 539]
-05/10 09:57:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:57:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:57:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:57:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:57:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:57:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:57:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:57:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:57:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:57:52 INFO: [Worker 0] Worker 0 house 1 episode 154 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:58:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 09:58:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:58:16 INFO: [Worker 0] Saved videos eagerly for episode 98 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:58:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 09:58:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:58:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:58:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:58:31 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.88s (batch: 4.52s, save: 10.35s)	[pipeline.py: 300]
-05/10 09:58:32 INFO: [Worker 0] [PROFILE] Episode 154 house 1 success=True episode_total=0.50s:
-  episode_total: mean=223.57s, total=223.57s, count=1, min=223569.9ms, max=223569.9ms
-  sensor_polling: mean=555.6ms, total=166.67s, count=300, min=463.6ms, max=1057.8ms
-  save_trajectories: mean=10.35s, total=10.35s, count=1, min=10354.6ms, max=10354.6ms
-  physics_step: mean=29.0ms, total=8.70s, count=300, min=17.8ms, max=112.3ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4522.7ms, max=4522.7ms
-  task_sampling: mean=503.5ms, total=503.5ms, count=1, min=503.5ms, max=503.5ms
-  task_specific_sample: mean=495.9ms, total=495.9ms, count=1, min=495.9ms, max=495.9ms
-  scene_randomize: mean=5.9ms, total=5.9ms, count=1, min=5.9ms, max=5.9ms
-  mj_forward_sync: mean=600.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:58:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:58:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:58:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:58:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:58:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:58:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:58:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:58:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:58:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008729m	[env.py: 870]
-05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:58:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95148791  1.03215851 -0.00872882] yaw=-139.9deg	[env.py: 1019]
-05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.66685936  0.32298704 -0.00872882] yaw=162.4deg	[env.py: 1019]
-05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95072738  1.21924901 -0.00872882] yaw=-141.1deg	[env.py: 1019]
-05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:58:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=374.4ms, total=374.4ms	[env.py: 1075]
-05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 1.032, -0.009)	[env.py: 1079]
-05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.9 deg	[env.py: 1082]
-05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
-05/10 09:58:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:58:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:58:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:58:35 INFO: [Worker 0] Worker 0 house 1 episode 155/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:58:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.170s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:58:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:58:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:58:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:58:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.589s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:58:42 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.546[m] 94.360[deg]	[grasp_sample.py: 539]
-05/10 09:58:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:58:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:58:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:58:45 INFO: [Worker 0] Worker 0 house 1 episode 144 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:59:09 INFO: [Worker 0] Saved videos eagerly for episode 108 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:59:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 09:59:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:59:21 INFO: [Worker 0] Worker 0 house 1 episode 148 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 09:59:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 09:59:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 09:59:25 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.64s (batch: 5.11s, save: 10.53s)	[pipeline.py: 300]
-05/10 09:59:26 INFO: [Worker 0] [PROFILE] Episode 144 house 1 success=True episode_total=0.49s:
-  episode_total: mean=220.31s, total=220.31s, count=1, min=220307.4ms, max=220307.4ms
-  sensor_polling: mean=542.7ms, total=162.82s, count=300, min=459.4ms, max=1136.2ms
-  save_trajectories: mean=10.53s, total=10.53s, count=1, min=10527.4ms, max=10527.4ms
-  physics_step: mean=26.9ms, total=8.06s, count=300, min=19.3ms, max=118.8ms
-  save_batch_prep: mean=5.11s, total=5.11s, count=1, min=5109.7ms, max=5109.7ms
-  task_sampling: mean=491.3ms, total=491.3ms, count=1, min=491.3ms, max=491.3ms
-  task_specific_sample: mean=486.9ms, total=486.9ms, count=1, min=486.9ms, max=486.9ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=487.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 09:59:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 09:59:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 09:59:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 09:59:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:59:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:59:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:59:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:59:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 09:59:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 09:59:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 09:59:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047780m	[env.py: 870]
-05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 09:59:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89052064  0.46718181  0.04777971] yaw=170.4deg	[env.py: 1019]
-05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87958742  0.88035671  0.04777971] yaw=-152.9deg	[env.py: 1019]
-05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98588747  1.05497134  0.04777971] yaw=-138.9deg	[env.py: 1019]
-05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 09:59:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.3ms, total=151.3ms	[env.py: 1075]
-05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.891, 0.467, 0.048)	[env.py: 1079]
-05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.4 deg	[env.py: 1082]
-05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m	[env.py: 1086]
-05/10 09:59:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 09:59:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 09:59:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 09:59:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 09:59:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 09:59:28 INFO: [Worker 0] Worker 0 house 1 episode 145/240 collected=0/40	[pipeline.py: 1044]
-05/10 09:59:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.163s	[base_object_manipulation_planner_policy.py: 377]
-05/10 09:59:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 09:59:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 09:59:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 09:59:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.232s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 09:59:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.391[m] 95.592[deg]	[grasp_sample.py: 539]
-05/10 09:59:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 09:59:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 09:59:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:59:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 09:59:54 INFO: [Worker 0] Saved videos eagerly for episode 111 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 09:59:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 09:59:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 09:59:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:00:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:00:07 INFO: [Worker 0] Worker 0 house 1 episode 143 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:00:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:00:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:00:08 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.16s (batch: 4.72s, save: 9.43s)	[pipeline.py: 300]
-05/10 10:00:09 INFO: [Worker 0] [PROFILE] Episode 148 house 1 success=True episode_total=0.53s:
-  episode_total: mean=231.68s, total=231.68s, count=1, min=231679.9ms, max=231679.9ms
-  sensor_polling: mean=546.6ms, total=163.99s, count=300, min=449.2ms, max=1013.4ms
-  save_trajectories: mean=9.43s, total=9.43s, count=1, min=9431.5ms, max=9431.5ms
-  physics_step: mean=29.8ms, total=8.94s, count=300, min=17.6ms, max=123.9ms
-  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4724.9ms, max=4724.9ms
-  task_sampling: mean=530.6ms, total=530.6ms, count=1, min=530.6ms, max=530.6ms
-  task_specific_sample: mean=525.7ms, total=525.7ms, count=1, min=525.7ms, max=525.7ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=601.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:00:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:00:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:00:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:00:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:00:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:00:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:00:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:00:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:00:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:00:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:00:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043902m	[env.py: 870]
-05/10 10:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:00:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81218836  0.24241438  0.04390162] yaw=166.0deg	[env.py: 1019]
-05/10 10:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78275634  0.93029605  0.04390162] yaw=-154.7deg	[env.py: 1019]
-05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01615287  0.27616029  0.04390162] yaw=165.7deg	[env.py: 1019]
-05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:00:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.2ms, total=128.2ms	[env.py: 1075]
-05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.812, 0.242, 0.044)	[env.py: 1079]
-05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.0 deg	[env.py: 1082]
-05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
-05/10 10:00:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:00:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:00:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:00:11 INFO: [Worker 0] Worker 0 house 1 episode 149/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:00:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:00:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:00:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:00:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:00:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.575s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:00:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.479[m] 95.018[deg]	[grasp_sample.py: 539]
-05/10 10:00:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:00:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:00:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:00:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:00:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:00:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:00:38 INFO: [Worker 0] Saved videos eagerly for episode 106 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:00:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 10:00:38 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/10 10:00:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:00:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:00:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.80s (batch: 4.74s, save: 11.06s)	[pipeline.py: 300]
-05/10 10:00:55 INFO: [Worker 0] [PROFILE] Episode 143 house 1 success=True episode_total=0.47s:
-  episode_total: mean=226.74s, total=226.74s, count=1, min=226737.4ms, max=226737.4ms
-  sensor_polling: mean=555.2ms, total=162.13s, count=292, min=469.5ms, max=1048.7ms
-  save_trajectories: mean=11.06s, total=11.06s, count=1, min=11058.8ms, max=11058.8ms
-  physics_step: mean=28.3ms, total=8.27s, count=292, min=19.5ms, max=135.1ms
-  save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4739.5ms, max=4739.5ms
-  task_sampling: mean=469.5ms, total=469.5ms, count=1, min=469.5ms, max=469.5ms
-  task_specific_sample: mean=464.4ms, total=464.4ms, count=1, min=464.4ms, max=464.4ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=673.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:00:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:00:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:00:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:00:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:00:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:00:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:00:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.032m, effective arm-mount z=0.828m (base_body_z=-0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032301m	[env.py: 870]
-05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:00:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84675323  0.60711272 -0.03230096] yaw=-176.3deg	[env.py: 1019]
-05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86993032  1.08467207 -0.03230096] yaw=-142.3deg	[env.py: 1019]
-05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99089121  0.92813594 -0.03230096] yaw=-147.5deg	[env.py: 1019]
-05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:00:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=271.8ms, total=271.8ms	[env.py: 1075]
-05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.607, -0.032)	[env.py: 1079]
-05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.3 deg	[env.py: 1082]
-05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
-05/10 10:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:00:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:00:57 INFO: [Worker 0] Worker 0 house 1 episode 144/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:00:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:00:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:00:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:00:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:00:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.579s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:00:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.456[m] 95.192[deg]	[grasp_sample.py: 539]
-05/10 10:00:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:00:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:00:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:01:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:01:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:01:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:01:36 INFO: [Worker 0] Worker 0 house 1 episode 155 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:01:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:01:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:02:02 INFO: [Worker 0] Saved videos eagerly for episode 99 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:02:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 10:02:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:02:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:02:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:02:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:02:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.77s (batch: 4.98s, save: 10.79s)	[pipeline.py: 300]
-05/10 10:02:18 INFO: [Worker 0] [PROFILE] Episode 155 house 1 success=True episode_total=0.75s:
-  episode_total: mean=223.98s, total=223.98s, count=1, min=223975.2ms, max=223975.2ms
-  sensor_polling: mean=538.8ms, total=161.64s, count=300, min=457.7ms, max=1363.6ms
-  save_trajectories: mean=10.79s, total=10.79s, count=1, min=10793.3ms, max=10793.3ms
-  physics_step: mean=27.3ms, total=8.18s, count=300, min=16.6ms, max=137.2ms
-  save_batch_prep: mean=4.98s, total=4.98s, count=1, min=4975.2ms, max=4975.2ms
-  task_sampling: mean=754.3ms, total=754.3ms, count=1, min=754.3ms, max=754.3ms
-  task_specific_sample: mean=750.0ms, total=750.0ms, count=1, min=750.0ms, max=750.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=556.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:02:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:02:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:02:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:02:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:02:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:02:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:02:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:02:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:02:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:02:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:02:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021521m	[env.py: 870]
-05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:02:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76844691  0.11204697 -0.02152078] yaw=158.0deg	[env.py: 1019]
-05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:02:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=246.3ms, total=246.3ms	[env.py: 1075]
-05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.768, 0.112, -0.022)	[env.py: 1079]
-05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.0 deg	[env.py: 1082]
-05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
-05/10 10:02:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:02:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:02:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:02:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:02:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:02:20 INFO: [Worker 0] Worker 0 house 1 episode 156/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:02:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:02:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:02:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:02:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.102s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:02:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.785s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:02:23 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.554[m] 84.712[deg]	[grasp_sample.py: 539]
-05/10 10:02:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:02:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:02:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:02:29 INFO: [Worker 0] Worker 0 house 1 episode 145 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:02:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:02:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:02:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:02:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:02:57 INFO: [Worker 0] Saved videos eagerly for episode 109 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:02:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 10:02:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:02:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:03:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:03:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:03:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:03:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:03:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:03:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:03:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:03:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:03:05 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.458s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:03:05 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.772[deg]	[grasp_sample.py: 539]
-05/10 10:03:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:03:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:03:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:03:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:03:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:03:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.75s (batch: 5.12s, save: 11.63s)	[pipeline.py: 300]
-05/10 10:03:14 INFO: [Worker 0] [PROFILE] Episode 145 house 1 success=True episode_total=0.56s:
-  episode_total: mean=226.60s, total=226.60s, count=1, min=226602.3ms, max=226602.3ms
-  sensor_polling: mean=541.0ms, total=162.29s, count=300, min=461.1ms, max=995.5ms
-  save_trajectories: mean=11.63s, total=11.63s, count=1, min=11633.7ms, max=11633.7ms
-  physics_step: mean=29.4ms, total=8.82s, count=300, min=19.3ms, max=125.1ms
-  save_batch_prep: mean=5.12s, total=5.12s, count=1, min=5120.4ms, max=5120.4ms
-  task_sampling: mean=563.2ms, total=563.2ms, count=1, min=563.2ms, max=563.2ms
-  task_specific_sample: mean=558.7ms, total=558.7ms, count=1, min=558.7ms, max=558.7ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=525.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:03:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:03:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:03:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:03:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:03:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:03:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:03:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:03:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:03:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:03:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017955m	[env.py: 870]
-05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:03:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74521086  0.67642307  0.0179549 ] yaw=-164.9deg	[env.py: 1019]
-05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96484638  0.46110295  0.0179549 ] yaw=178.9deg	[env.py: 1019]
-05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.69307958  0.53924639  0.0179549 ] yaw=-167.8deg	[env.py: 1019]
-05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:03:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=228.4ms, total=228.4ms	[env.py: 1075]
-05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.745, 0.676, 0.018)	[env.py: 1079]
-05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.9 deg	[env.py: 1082]
-05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m	[env.py: 1086]
-05/10 10:03:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:03:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:03:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:03:17 INFO: [Worker 0] Worker 0 house 1 episode 146/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:03:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:03:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:03:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:03:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:03:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.753s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:03:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.520[m] 83.204[deg]	[grasp_sample.py: 539]
-05/10 10:03:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:03:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:03:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:03:25 INFO: [Worker 0] Worker 0 house 1 episode 149 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:03:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:03:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:03:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:03:54 INFO: [Worker 0] Worker 0 house 1 episode 144 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:03:57 INFO: [Worker 0] Saved videos eagerly for episode 112 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:03:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 10:03:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:04:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:04:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:04:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.13s (batch: 5.35s, save: 10.78s)	[pipeline.py: 300]
-05/10 10:04:14 INFO: [Worker 0] [PROFILE] Episode 149 house 1 success=True episode_total=0.46s:
-  episode_total: mean=243.27s, total=243.27s, count=1, min=243271.2ms, max=243271.2ms
-  sensor_polling: mean=546.9ms, total=164.07s, count=300, min=473.0ms, max=967.1ms
-  save_trajectories: mean=10.78s, total=10.78s, count=1, min=10776.4ms, max=10776.4ms
-  physics_step: mean=27.7ms, total=8.31s, count=300, min=16.2ms, max=81.0ms
-  save_batch_prep: mean=5.35s, total=5.35s, count=1, min=5349.3ms, max=5349.3ms
-  task_sampling: mean=458.3ms, total=458.3ms, count=1, min=458.3ms, max=458.3ms
-  task_specific_sample: mean=453.6ms, total=453.6ms, count=1, min=453.6ms, max=453.6ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=605.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:04:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:04:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:04:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:04:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:04:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:04:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:04:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:04:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:04:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049937m	[env.py: 870]
-05/10 10:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:04:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.72530172  0.88111534  0.04993724] yaw=-147.9deg	[env.py: 1019]
-05/10 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:04:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=187.8ms, total=187.9ms	[env.py: 1075]
-05/10 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.725, 0.881, 0.050)	[env.py: 1079]
-05/10 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.9 deg	[env.py: 1082]
-05/10 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
-05/10 10:04:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:04:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:04:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:04:16 INFO: [Worker 0] Worker 0 house 1 episode 150/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:04:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:04:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:04:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:04:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:04:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:04:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.981s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:04:19 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.673[m] 92.943[deg]	[grasp_sample.py: 539]
-05/10 10:04:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:04:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:04:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:04:23 INFO: [Worker 0] Saved videos eagerly for episode 107 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:04:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 10:04:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:04:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:04:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:04:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:04:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:04:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.55s (batch: 4.74s, save: 9.81s)	[pipeline.py: 300]
-05/10 10:04:38 INFO: [Worker 0] [PROFILE] Episode 144 house 1 success=True episode_total=0.63s:
-  episode_total: mean=221.59s, total=221.59s, count=1, min=221592.5ms, max=221592.5ms
-  sensor_polling: mean=541.5ms, total=162.46s, count=300, min=469.9ms, max=845.3ms
-  save_trajectories: mean=9.81s, total=9.81s, count=1, min=9808.4ms, max=9808.4ms
-  physics_step: mean=25.9ms, total=7.78s, count=300, min=16.3ms, max=64.5ms
-  save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4740.7ms, max=4740.7ms
-  task_sampling: mean=629.4ms, total=629.4ms, count=1, min=629.4ms, max=629.4ms
-  task_specific_sample: mean=624.7ms, total=624.7ms, count=1, min=624.7ms, max=624.7ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=593.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:04:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:04:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:04:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:04:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:04:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:04:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:04:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:04:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:04:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031530m	[env.py: 870]
-05/10 10:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:04:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86591878  0.03787669  0.03153046] yaw=141.3deg	[env.py: 1019]
-05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98323554  0.839563    0.03153046] yaw=-161.7deg	[env.py: 1019]
-05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91819536  0.24346632  0.03153046] yaw=166.1deg	[env.py: 1019]
-05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:04:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.2ms, total=154.2ms	[env.py: 1075]
-05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.866, 0.038, 0.032)	[env.py: 1079]
-05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 141.3 deg	[env.py: 1082]
-05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
-05/10 10:04:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:04:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:04:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:04:41 INFO: [Worker 0] Worker 0 house 1 episode 145/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:04:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:04:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:04:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:04:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:04:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.680s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:04:42 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.499[m] 90.036[deg]	[grasp_sample.py: 539]
-05/10 10:04:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:04:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:04:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:05:33 INFO: [Worker 0] Worker 0 house 1 episode 156 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:05:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:05:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:05:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:05:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:05:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:06:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:06:06 INFO: [Worker 0] Saved videos eagerly for episode 100 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:06:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 10:06:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:06:18 INFO: [Worker 0] Worker 0 house 1 episode 146 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:06:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:06:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:06:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.38s (batch: 4.96s, save: 11.42s)	[pipeline.py: 300]
-05/10 10:06:23 INFO: [Worker 0] [PROFILE] Episode 156 house 1 success=True episode_total=0.54s:
-  episode_total: mean=243.44s, total=243.44s, count=1, min=243440.8ms, max=243440.8ms
-  sensor_polling: mean=560.8ms, total=168.24s, count=300, min=479.7ms, max=1017.5ms
-  save_trajectories: mean=11.42s, total=11.42s, count=1, min=11419.4ms, max=11419.4ms
-  physics_step: mean=28.2ms, total=8.46s, count=300, min=19.1ms, max=92.4ms
-  save_batch_prep: mean=4.96s, total=4.96s, count=1, min=4958.9ms, max=4958.9ms
-  task_sampling: mean=542.0ms, total=542.0ms, count=1, min=542.0ms, max=542.0ms
-  task_specific_sample: mean=537.6ms, total=537.6ms, count=1, min=537.6ms, max=537.6ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=533.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:06:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:06:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:06:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:06:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:06:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:06:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:06:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:06:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:06:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017402m	[env.py: 870]
-05/10 10:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:06:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94741523  1.00717837 -0.01740219] yaw=-140.8deg	[env.py: 1019]
-05/10 10:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7181274   0.38825004 -0.01740219] yaw=179.4deg	[env.py: 1019]
-05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98710439  0.98468756 -0.01740219] yaw=-136.4deg	[env.py: 1019]
-05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:06:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=340.9ms, total=340.9ms	[env.py: 1075]
-05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.947, 1.007, -0.017)	[env.py: 1079]
-05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.8 deg	[env.py: 1082]
-05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
-05/10 10:06:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:06:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:06:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:06:26 INFO: [Worker 0] Worker 0 house 1 episode 157/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:06:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:06:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:06:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:06:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:06:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.785s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:06:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.502[m] 91.796[deg]	[grasp_sample.py: 539]
-05/10 10:06:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:06:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:06:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:06:46 INFO: [Worker 0] Saved videos eagerly for episode 110 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:06:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 10:06:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:07:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:07:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:07:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.47s (batch: 5.39s, save: 11.08s)	[pipeline.py: 300]
-05/10 10:07:03 INFO: [Worker 0] [PROFILE] Episode 146 house 1 success=True episode_total=0.57s:
-  episode_total: mean=226.99s, total=226.99s, count=1, min=226993.0ms, max=226993.0ms
-  sensor_polling: mean=559.5ms, total=167.85s, count=300, min=463.7ms, max=1201.5ms
-  save_trajectories: mean=11.08s, total=11.08s, count=1, min=11080.4ms, max=11080.4ms
-  physics_step: mean=27.3ms, total=8.18s, count=300, min=19.1ms, max=86.6ms
-  save_batch_prep: mean=5.39s, total=5.39s, count=1, min=5390.7ms, max=5390.7ms
-  task_sampling: mean=566.2ms, total=566.2ms, count=1, min=566.2ms, max=566.2ms
-  task_specific_sample: mean=562.3ms, total=562.3ms, count=1, min=562.3ms, max=562.3ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=488.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:07:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:07:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:07:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:07:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:07:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:07:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:07:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:07:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:07:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015789m	[env.py: 870]
-05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:07:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9560355   0.45894708  0.01578888] yaw=167.4deg	[env.py: 1019]
-05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81438145  0.04760606  0.01578888] yaw=144.3deg	[env.py: 1019]
-05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97391942  0.44755359  0.01578888] yaw=175.7deg	[env.py: 1019]
-05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:07:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.4ms, total=204.4ms	[env.py: 1075]
-05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.956, 0.459, 0.016)	[env.py: 1079]
-05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.4 deg	[env.py: 1082]
-05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.747m	[env.py: 1086]
-05/10 10:07:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:07:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:07:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:07:05 INFO: [Worker 0] Worker 0 house 1 episode 147/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:07:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:07:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:07:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:07:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:07:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:07:06 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.320[m] 93.154[deg]	[grasp_sample.py: 539]
-05/10 10:07:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:07:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:07:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:07:18 INFO: [Worker 0] Worker 0 house 1 episode 150 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:07:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:07:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:07:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:07:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:07:44 INFO: [Worker 0] Saved videos eagerly for episode 113 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:07:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 10:07:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:07:45 INFO: [Worker 0] Worker 0 house 1 episode 145 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:07:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:07:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:07:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:07:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:07:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.16s (batch: 4.34s, save: 8.82s)	[pipeline.py: 300]
-05/10 10:07:57 INFO: [Worker 0] [PROFILE] Episode 150 house 1 success=True episode_total=0.52s:
-  episode_total: mean=221.95s, total=221.95s, count=1, min=221947.0ms, max=221947.0ms
-  sensor_polling: mean=554.1ms, total=166.24s, count=300, min=456.7ms, max=1066.5ms
-  save_trajectories: mean=8.82s, total=8.82s, count=1, min=8820.8ms, max=8820.8ms
-  physics_step: mean=27.3ms, total=8.20s, count=300, min=20.0ms, max=86.5ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4341.8ms, max=4341.8ms
-  task_sampling: mean=518.1ms, total=518.1ms, count=1, min=518.1ms, max=518.1ms
-  task_specific_sample: mean=513.3ms, total=513.3ms, count=1, min=513.3ms, max=513.3ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=548.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:07:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:07:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:07:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:07:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:07:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:07:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:07:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023855m	[env.py: 870]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:07:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93007692  1.05952309  0.02385533] yaw=-153.4deg	[env.py: 1019]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95241584  0.81264022  0.02385533] yaw=-157.6deg	[env.py: 1019]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76118494  0.33923057  0.02385533] yaw=171.4deg	[env.py: 1019]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:07:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=239.4ms, total=239.4ms	[env.py: 1075]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 1.060, 0.024)	[env.py: 1079]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.4 deg	[env.py: 1082]
-05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
-05/10 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:08:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:08:00 INFO: [Worker 0] Worker 0 house 1 episode 151/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:08:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:08:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:08:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:08:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:08:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.618s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:08:01 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.592[m] 93.609[deg]	[grasp_sample.py: 539]
-05/10 10:08:03 ERROR: [Worker 0] Worker 0 house 1 episode 151 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 10:08:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:08:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:08:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:08:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:08:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:08:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:08:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:08:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:08:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:08:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:08:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012006m	[env.py: 870]
-05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:08:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92692017  0.41299015  0.01200566] yaw=182.6deg	[env.py: 1019]
-05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96445934  1.16346012  0.01200566] yaw=-142.4deg	[env.py: 1019]
-05/10 10:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:08:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=235.4ms, total=235.4ms	[env.py: 1075]
-05/10 10:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.413, 0.012)	[env.py: 1079]
-05/10 10:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.6 deg	[env.py: 1082]
-05/10 10:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.778m	[env.py: 1086]
-05/10 10:08:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:08:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:08:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:08:05 INFO: [Worker 0] Worker 0 house 1 episode 152/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:08:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:08:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:08:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:08:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:08:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.504s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:08:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.322[m] 82.163[deg]	[grasp_sample.py: 539]
-05/10 10:08:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:08:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:08:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:08:07 INFO: [Worker 0] Saved videos eagerly for episode 108 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:08:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 10:08:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:08:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:08:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:08:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.13s (batch: 4.54s, save: 8.60s)	[pipeline.py: 300]
-05/10 10:08:21 INFO: [Worker 0] [PROFILE] Episode 145 house 1 success=True episode_total=0.49s:
-  episode_total: mean=220.53s, total=220.53s, count=1, min=220527.4ms, max=220527.4ms
-  sensor_polling: mean=566.5ms, total=169.96s, count=300, min=459.8ms, max=1087.2ms
-  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8597.3ms, max=8597.3ms
-  physics_step: mean=28.5ms, total=8.55s, count=300, min=19.3ms, max=107.3ms
-  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4536.2ms, max=4536.2ms
-  task_sampling: mean=490.4ms, total=490.4ms, count=1, min=490.4ms, max=490.4ms
-  task_specific_sample: mean=486.5ms, total=486.5ms, count=1, min=486.5ms, max=486.5ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=463.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:08:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:08:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:08:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:08:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:08:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:08:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:08:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:08:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:08:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016358m	[env.py: 870]
-05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:08:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.22600572  1.06326767  0.01635841] yaw=-130.4deg	[env.py: 1019]
-05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05661054  1.09742338  0.01635841] yaw=-146.8deg	[env.py: 1019]
-05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66268955  0.66578036  0.01635841] yaw=-160.2deg	[env.py: 1019]
-05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:08:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.9ms, total=111.0ms	[env.py: 1075]
-05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.226, 1.063, 0.016)	[env.py: 1079]
-05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.4 deg	[env.py: 1082]
-05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
-05/10 10:08:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:08:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:08:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:08:23 INFO: [Worker 0] Worker 0 house 1 episode 146/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:08:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:08:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:08:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:08:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:08:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:08:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.357[m] 93.972[deg]	[grasp_sample.py: 539]
-05/10 10:08:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:08:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:08:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:08:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:08:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:08:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:09:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:09:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:09:23 INFO: [Worker 0] Worker 0 house 1 episode 157 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:09:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:09:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:09:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:09:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:09:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:09:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:09:53 INFO: [Worker 0] Saved videos eagerly for episode 101 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:09:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 10:09:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:09:54 INFO: [Worker 0] Worker 0 house 1 episode 147 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:09:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:09:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:09:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:09:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:09:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:09:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:09:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:09:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:10:00 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.149s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:10:00 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.645[deg]	[grasp_sample.py: 539]
-05/10 10:10:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:10:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:10:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:10:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:10:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:10:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.59s (batch: 4.71s, save: 9.88s)	[pipeline.py: 300]
-05/10 10:10:08 INFO: [Worker 0] [PROFILE] Episode 157 house 1 success=True episode_total=0.70s:
-  episode_total: mean=223.15s, total=223.15s, count=1, min=223152.8ms, max=223152.8ms
-  sensor_polling: mean=538.8ms, total=161.65s, count=300, min=453.7ms, max=940.9ms
-  save_trajectories: mean=9.88s, total=9.88s, count=1, min=9877.5ms, max=9877.5ms
-  physics_step: mean=26.6ms, total=7.99s, count=300, min=19.6ms, max=120.5ms
-  save_batch_prep: mean=4.71s, total=4.71s, count=1, min=4714.8ms, max=4714.8ms
-  task_sampling: mean=699.3ms, total=699.3ms, count=1, min=699.3ms, max=699.3ms
-  task_specific_sample: mean=694.4ms, total=694.4ms, count=1, min=694.4ms, max=694.4ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=642.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:10:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:10:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:10:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:10:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:10:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:10:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:10:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:10:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:10:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033486m	[env.py: 870]
-05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:10:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96241873  0.68934798  0.03348631] yaw=-164.5deg	[env.py: 1019]
-05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86681197  0.84834215  0.03348631] yaw=-151.6deg	[env.py: 1019]
-05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:10:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=306.3ms, total=306.3ms	[env.py: 1075]
-05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.962, 0.689, 0.033)	[env.py: 1079]
-05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.5 deg	[env.py: 1082]
-05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.768m	[env.py: 1086]
-05/10 10:10:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:10:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:10:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:10:11 INFO: [Worker 0] Worker 0 house 1 episode 158/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:10:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:10:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:10:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:10:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:10:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.266s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:10:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.310[m] 85.296[deg]	[grasp_sample.py: 539]
-05/10 10:10:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:10:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:10:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:10:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:10:28 INFO: [Worker 0] Saved videos eagerly for episode 111 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:10:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 10:10:28 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
-05/10 10:10:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:10:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:10:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:10:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:10:42 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.72s (batch: 4.68s, save: 9.03s)	[pipeline.py: 300]
-05/10 10:10:42 INFO: [Worker 0] [PROFILE] Episode 147 house 1 success=True episode_total=0.50s:
-  episode_total: mean=217.61s, total=217.61s, count=1, min=217614.5ms, max=217614.5ms
-  sensor_polling: mean=541.2ms, total=154.25s, count=285, min=463.3ms, max=1031.2ms
-  save_trajectories: mean=9.03s, total=9.03s, count=1, min=9031.1ms, max=9031.1ms
-  physics_step: mean=29.3ms, total=8.35s, count=285, min=16.2ms, max=135.2ms
-  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4684.8ms, max=4684.8ms
-  task_sampling: mean=498.3ms, total=498.3ms, count=1, min=498.3ms, max=498.3ms
-  task_specific_sample: mean=494.0ms, total=494.0ms, count=1, min=494.0ms, max=494.0ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=548.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:10:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:10:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:10:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:10:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:10:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:10:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:10:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:10:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:10:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013233m	[env.py: 870]
-05/10 10:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:10:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85711701  0.93837973 -0.01323256] yaw=-154.5deg	[env.py: 1019]
-05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.18306279  1.00461233 -0.01323256] yaw=-135.5deg	[env.py: 1019]
-05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0012205   0.87522718 -0.01323256] yaw=-156.4deg	[env.py: 1019]
-05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:10:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=566.2ms, total=566.3ms	[env.py: 1075]
-05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.857, 0.938, -0.013)	[env.py: 1079]
-05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.5 deg	[env.py: 1082]
-05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
-05/10 10:10:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:10:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:10:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:10:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:10:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:10:45 INFO: [Worker 0] Worker 0 house 1 episode 148/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:10:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.156s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:10:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:10:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:10:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:10:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.768s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:10:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.505[m] 84.473[deg]	[grasp_sample.py: 539]
-05/10 10:10:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:10:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:10:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:10:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:10:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:10:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:10:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:10:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:10:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:11:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:11:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:11:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:11:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:11:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:11:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:11:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:11:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:11:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:11:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:11:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.808s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:11:05 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.311[deg]	[grasp_sample.py: 539]
-05/10 10:11:06 ERROR: [Worker 0] Worker 0 house 1 episode 146 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 10:11:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:11:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:11:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:11:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:11:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:11:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:11:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:11:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:11:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.022867m	[env.py: 870]
-05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:11:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78264889  0.55382173 -0.02286671] yaw=-186.2deg	[env.py: 1019]
-05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70647713  0.18216666 -0.02286671] yaw=167.8deg	[env.py: 1019]
-05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:11:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:11:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10815788  1.05002284 -0.02286671] yaw=-138.8deg	[env.py: 1019]
-05/10 10:11:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:11:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:11:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=833.9ms, total=834.0ms	[env.py: 1075]
-05/10 10:11:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.783, 0.554, -0.023)	[env.py: 1079]
-05/10 10:11:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.2 deg	[env.py: 1082]
-05/10 10:11:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
-05/10 10:11:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:11:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:11:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:11:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:11:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:11:09 INFO: [Worker 0] Worker 0 house 1 episode 147/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:11:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:11:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:11:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:11:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:11:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.124s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:11:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.492[m] 90.596[deg]	[grasp_sample.py: 539]
-05/10 10:11:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:11:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:11:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:11:23 INFO: [Worker 0] Worker 0 house 1 episode 152 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:11:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:11:48 INFO: [Worker 0] Saved videos eagerly for episode 114 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:11:48 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 10:11:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:11:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:12:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:12:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:12:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:12:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.03s (batch: 4.17s, save: 10.86s)	[pipeline.py: 300]
-05/10 10:12:03 INFO: [Worker 0] [PROFILE] Episode 152 house 1 success=True episode_total=1.09s:
-  episode_total: mean=121.23s, total=242.46s, count=2, min=3466.1ms, max=238996.1ms
-  sensor_polling: mean=576.6ms, total=172.98s, count=300, min=457.5ms, max=1389.4ms
-  save_trajectories: mean=10.86s, total=10.86s, count=1, min=10864.5ms, max=10864.5ms
-  physics_step: mean=27.7ms, total=8.32s, count=300, min=19.0ms, max=117.7ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4168.9ms, max=4168.9ms
-  task_sampling: mean=547.2ms, total=1.09s, count=2, min=510.0ms, max=584.4ms
-  task_specific_sample: mean=543.2ms, total=1.09s, count=2, min=506.2ms, max=580.3ms
-  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.6ms, max=2.7ms
-  mj_forward_sync: mean=551.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:12:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:12:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:12:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:12:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:12:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:12:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:12:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:12:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:12:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:12:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039551m	[env.py: 870]
-05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:12:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77414322  0.98949627  0.03955137] yaw=-142.6deg	[env.py: 1019]
-05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98804249  0.96176682  0.03955137] yaw=-141.8deg	[env.py: 1019]
-05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8029745   0.23223448  0.03955137] yaw=159.3deg	[env.py: 1019]
-05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:12:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.2ms, total=167.2ms	[env.py: 1075]
-05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.774, 0.989, 0.040)	[env.py: 1079]
-05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.6 deg	[env.py: 1082]
-05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m	[env.py: 1086]
-05/10 10:12:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:12:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:12:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:12:06 INFO: [Worker 0] Worker 0 house 1 episode 153/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:12:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:12:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:12:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:12:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:12:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.934s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:12:12 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.625[m] 86.344[deg]	[grasp_sample.py: 539]
-05/10 10:12:13 ERROR: [Worker 0] Worker 0 house 1 episode 153 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 10:12:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:12:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:12:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:12:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:12:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:12:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:12:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:12:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:12:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049490m	[env.py: 870]
-05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:12:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80648856  0.06582285  0.04948978] yaw=164.6deg	[env.py: 1019]
-05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79791657  0.55052388  0.04948978] yaw=-173.7deg	[env.py: 1019]
-05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0057066   0.93923018  0.04948978] yaw=-136.3deg	[env.py: 1019]
-05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:12:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=477.6ms, total=477.6ms	[env.py: 1075]
-05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.066, 0.049)	[env.py: 1079]
-05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.6 deg	[env.py: 1082]
-05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
-05/10 10:12:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:12:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:12:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:12:16 INFO: [Worker 0] Worker 0 house 1 episode 154/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:12:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:12:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:12:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:12:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:12:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:12:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.700s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:12:18 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.558[m] 90.998[deg]	[grasp_sample.py: 539]
-05/10 10:12:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:12:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:12:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:12:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:13:00 INFO: [Worker 0] Worker 0 house 1 episode 158 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:13:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:13:24 INFO: [Worker 0] Saved videos eagerly for episode 102 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:13:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 10:13:24 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
-05/10 10:13:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:13:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:13:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:13:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:13:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.45s (batch: 5.71s, save: 8.74s)	[pipeline.py: 300]
-05/10 10:13:39 INFO: [Worker 0] [PROFILE] Episode 158 house 1 success=True episode_total=0.82s:
-  episode_total: mean=208.77s, total=208.77s, count=1, min=208771.4ms, max=208771.4ms
-  sensor_polling: mean=546.9ms, total=154.77s, count=283, min=467.8ms, max=1115.0ms
-  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8740.8ms, max=8740.8ms
-  physics_step: mean=26.6ms, total=7.53s, count=283, min=18.4ms, max=99.2ms
-  save_batch_prep: mean=5.71s, total=5.71s, count=1, min=5706.4ms, max=5706.4ms
-  task_sampling: mean=822.1ms, total=822.1ms, count=1, min=822.1ms, max=822.1ms
-  task_specific_sample: mean=817.7ms, total=817.7ms, count=1, min=817.7ms, max=817.7ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=514.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:13:41 INFO: [Worker 0] Worker 0 house 1 episode 148 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:13:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:13:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:13:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:13:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:13:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:13:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:13:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:13:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:13:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007205m	[env.py: 870]
-05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:13:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90352832  0.51407184 -0.00720512] yaw=-170.6deg	[env.py: 1019]
-05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74813792  0.89669725 -0.00720512] yaw=-147.5deg	[env.py: 1019]
-05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86361221  1.04447513 -0.00720512] yaw=-144.0deg	[env.py: 1019]
-05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:13:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=144.1ms, total=144.2ms	[env.py: 1075]
-05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.904, 0.514, -0.007)	[env.py: 1079]
-05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.6 deg	[env.py: 1082]
-05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.799m	[env.py: 1086]
-05/10 10:13:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:13:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:13:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:13:42 INFO: [Worker 0] Worker 0 house 1 episode 159/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:13:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:13:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:13:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:13:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:13:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.517s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:13:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.356[m] 86.135[deg]	[grasp_sample.py: 539]
-05/10 10:13:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:13:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:13:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:14:02 INFO: [Worker 0] Worker 0 house 1 episode 147 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:14:09 INFO: [Worker 0] Saved videos eagerly for episode 112 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:14:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 10:14:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:14:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:14:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:14:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:14:23 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.09s (batch: 4.61s, save: 9.47s)	[pipeline.py: 300]
-05/10 10:14:24 INFO: [Worker 0] [PROFILE] Episode 148 house 1 success=True episode_total=0.93s:
-  episode_total: mean=219.86s, total=219.86s, count=1, min=219858.6ms, max=219858.6ms
-  sensor_polling: mean=534.9ms, total=160.46s, count=300, min=454.0ms, max=1007.0ms
-  save_trajectories: mean=9.47s, total=9.47s, count=1, min=9474.6ms, max=9474.6ms
-  physics_step: mean=26.7ms, total=8.01s, count=300, min=18.8ms, max=119.1ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4612.7ms, max=4612.7ms
-  task_sampling: mean=933.7ms, total=933.7ms, count=1, min=933.7ms, max=933.7ms
-  task_specific_sample: mean=928.6ms, total=928.6ms, count=1, min=928.6ms, max=928.6ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=633.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=40.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:14:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:14:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:14:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:14:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:14:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:14:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:14:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014738m	[env.py: 870]
-05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:14:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96513014  0.49543978 -0.01473835] yaw=-171.8deg	[env.py: 1019]
-05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:14:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=182.0ms, total=182.1ms	[env.py: 1075]
-05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.495, -0.015)	[env.py: 1079]
-05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.8 deg	[env.py: 1082]
-05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.737m	[env.py: 1086]
-05/10 10:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:14:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:14:27 INFO: [Worker 0] Worker 0 house 1 episode 149/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:14:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.175s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:14:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:14:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:14:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.154s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:14:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.644s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:14:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.272[m] 84.328[deg]	[grasp_sample.py: 539]
-05/10 10:14:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:14:28 INFO: [Worker 0] Saved videos eagerly for episode 109 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:14:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 10:14:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:14:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:14:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:14:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:14:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:14:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:14:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:14:43 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.58s (batch: 4.45s, save: 10.13s)	[pipeline.py: 300]
-05/10 10:14:44 INFO: [Worker 0] [PROFILE] Episode 147 house 1 success=True episode_total=1.58s:
-  episode_total: mean=189.51s, total=379.03s, count=2, min=163336.3ms, max=215693.4ms
-  sensor_polling: mean=544.3ms, total=297.18s, count=546, min=453.8ms, max=1115.8ms
-  physics_step: mean=27.7ms, total=15.11s, count=546, min=18.8ms, max=84.6ms
-  save_trajectories: mean=10.13s, total=10.13s, count=1, min=10127.1ms, max=10127.1ms
-  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4454.4ms, max=4454.4ms
-  task_sampling: mean=789.8ms, total=1.58s, count=2, min=447.0ms, max=1132.5ms
-  task_specific_sample: mean=785.9ms, total=1.57s, count=2, min=443.0ms, max=1128.7ms
-  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.6ms, max=2.7ms
-  mj_forward_sync: mean=498.5us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:14:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:14:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:14:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:14:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:14:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:14:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:14:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:14:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:14:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.000m, effective arm-mount z=0.860m (base_body_z=-0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000146m	[env.py: 870]
-05/10 10:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:14:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-7.89925854e-01  1.65626797e-01 -1.45960558e-04] yaw=167.3deg	[env.py: 1019]
-05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-9.97868145e-01  1.04090555e+00 -1.45960558e-04] yaw=-150.7deg	[env.py: 1019]
-05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-8.17732078e-01  8.80215306e-01 -1.45960558e-04] yaw=-150.9deg	[env.py: 1019]
-05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:14:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=238.5ms, total=238.6ms	[env.py: 1075]
-05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.790, 0.166, -0.000)	[env.py: 1079]
-05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.3 deg	[env.py: 1082]
-05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
-05/10 10:14:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:14:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:14:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:14:46 INFO: [Worker 0] Worker 0 house 1 episode 148/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:14:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:14:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:14:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:14:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:14:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.570s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:14:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.502[m] 87.989[deg]	[grasp_sample.py: 539]
-05/10 10:14:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:14:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:14:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:14:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:15:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:15:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:15:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:15:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:15:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:15:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:15:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:15:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:15:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:15:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:15:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:15:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:15:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:15:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:15:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.129s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:15:29 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.810s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:15:29 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.202[deg]	[grasp_sample.py: 539]
-05/10 10:15:31 ERROR: [Worker 0] Worker 0 house 1 episode 154 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 10:15:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:15:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:15:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:15:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:15:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:15:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:15:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:15:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:15:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048973m	[env.py: 870]
-05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:15:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01222985  1.11487387  0.04897325] yaw=-139.7deg	[env.py: 1019]
-05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.71490815  0.04785565  0.04897325] yaw=158.3deg	[env.py: 1019]
-05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:15:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=453.9ms, total=453.9ms	[env.py: 1075]
-05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.012, 1.115, 0.049)	[env.py: 1079]
-05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.7 deg	[env.py: 1082]
-05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
-05/10 10:15:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:15:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:15:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:15:34 INFO: [Worker 0] Worker 0 house 1 episode 155/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:15:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:15:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:15:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:15:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:15:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.084s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:15:38 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.517[m] 87.432[deg]	[grasp_sample.py: 539]
-05/10 10:15:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:15:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:15:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:15:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:15:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:16:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:16:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:16:47 INFO: [Worker 0] Worker 0 house 1 episode 159 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:16:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:16:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:17:16 INFO: [Worker 0] Saved videos eagerly for episode 103 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:17:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 10:17:16 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/10 10:17:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:17:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:17:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.54s (batch: 6.82s, save: 10.72s)	[pipeline.py: 300]
-05/10 10:17:34 INFO: [Worker 0] [PROFILE] Episode 159 house 1 success=True episode_total=0.51s:
-  episode_total: mean=233.25s, total=233.25s, count=1, min=233249.7ms, max=233249.7ms
-  sensor_polling: mean=564.7ms, total=164.88s, count=292, min=469.7ms, max=1025.2ms
-  save_trajectories: mean=10.72s, total=10.72s, count=1, min=10722.2ms, max=10722.2ms
-  physics_step: mean=30.5ms, total=8.90s, count=292, min=18.7ms, max=137.4ms
-  save_batch_prep: mean=6.82s, total=6.82s, count=1, min=6816.3ms, max=6816.3ms
-  task_sampling: mean=506.4ms, total=506.4ms, count=1, min=506.4ms, max=506.4ms
-  task_specific_sample: mean=501.1ms, total=501.1ms, count=1, min=501.1ms, max=501.1ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=686.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=21.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:17:36 INFO: [Worker 0] Worker 0 house 1 episode 149 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:17:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:17:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:17:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:17:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:17:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:17:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:17:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:17:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:17:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.022342m	[env.py: 870]
-05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:17:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75545918  0.10399822 -0.02234208] yaw=150.8deg	[env.py: 1019]
-05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.7628677   0.85538126 -0.02234208] yaw=-155.8deg	[env.py: 1019]
-05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:17:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.6ms, total=226.6ms	[env.py: 1075]
-05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.755, 0.104, -0.022)	[env.py: 1079]
-05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.8 deg	[env.py: 1082]
-05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m	[env.py: 1086]
-05/10 10:17:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:17:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:17:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:17:37 INFO: [Worker 0] Worker 0 house 1 episode 160/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:17:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:17:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:17:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:17:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:17:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.743s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:17:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.570[m] 86.938[deg]	[grasp_sample.py: 539]
-05/10 10:17:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:17:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:17:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:17:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:17:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:17:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:17:58 INFO: [Worker 0] Saved videos eagerly for episode 113 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:17:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 10:17:58 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
-05/10 10:17:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:18:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:18:01 INFO: [Worker 0] Worker 0 house 1 episode 148 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:18:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:18:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:18:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.67s (batch: 4.02s, save: 8.65s)	[pipeline.py: 300]
-05/10 10:18:11 INFO: [Worker 0] [PROFILE] Episode 149 house 1 success=True episode_total=0.54s:
-  episode_total: mean=225.26s, total=225.26s, count=1, min=225264.1ms, max=225264.1ms
-  sensor_polling: mean=574.0ms, total=157.85s, count=275, min=452.0ms, max=1186.7ms
-  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8648.7ms, max=8648.7ms
-  physics_step: mean=29.6ms, total=8.15s, count=275, min=17.0ms, max=135.5ms
-  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4022.7ms, max=4022.7ms
-  task_sampling: mean=538.9ms, total=538.9ms, count=1, min=538.9ms, max=538.9ms
-  task_specific_sample: mean=534.8ms, total=534.8ms, count=1, min=534.8ms, max=534.8ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=442.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:18:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:18:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:18:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:18:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:18:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:18:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:18:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019012m	[env.py: 870]
-05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:18:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.08282066  1.17452014  0.01901158] yaw=-137.5deg	[env.py: 1019]
-05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89711194  0.89170995  0.01901158] yaw=-144.4deg	[env.py: 1019]
-05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07602962  0.87669653  0.01901158] yaw=-156.9deg	[env.py: 1019]
-05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:18:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.7ms, total=119.8ms	[env.py: 1075]
-05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.083, 1.175, 0.019)	[env.py: 1079]
-05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.5 deg	[env.py: 1082]
-05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
-05/10 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:18:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:18:14 INFO: [Worker 0] Worker 0 house 1 episode 150/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:18:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:18:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:18:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:18:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:18:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.729s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:18:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.535[m] 87.345[deg]	[grasp_sample.py: 539]
-05/10 10:18:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:18:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:18:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:18:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:18:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:18:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:18:27 INFO: [Worker 0] Saved videos eagerly for episode 110 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:18:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 10:18:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:18:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:18:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:18:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:18:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:18:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:18:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:18:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:18:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:18:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:18:37 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.556s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:18:37 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.110[m] 0.829[deg]	[grasp_sample.py: 539]
-05/10 10:18:39 ERROR: [Worker 0] Worker 0 house 1 episode 155 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 10:18:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:18:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:18:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:18:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:18:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:18:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:18:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:18:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:18:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:18:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:18:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012128m	[env.py: 870]
-05/10 10:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:18:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87747991  0.50715617 -0.01212786] yaw=-181.7deg	[env.py: 1019]
-05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97408938  0.7755022  -0.01212786] yaw=-151.9deg	[env.py: 1019]
-05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06450852  0.99800274 -0.01212786] yaw=-148.5deg	[env.py: 1019]
-05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:18:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.0ms, total=122.0ms	[env.py: 1075]
-05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.507, -0.012)	[env.py: 1079]
-05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.7 deg	[env.py: 1082]
-05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
-05/10 10:18:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:18:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:18:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:18:41 INFO: [Worker 0] Worker 0 house 1 episode 156/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:18:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:18:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:18:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:18:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:18:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:18:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:18:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.56s (batch: 4.51s, save: 10.05s)	[pipeline.py: 300]
-05/10 10:18:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.485s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:18:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.386[m] 92.285[deg]	[grasp_sample.py: 539]
-05/10 10:18:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:18:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:18:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:18:42 INFO: [Worker 0] [PROFILE] Episode 148 house 1 success=True episode_total=0.61s:
-  episode_total: mean=236.79s, total=236.79s, count=1, min=236794.9ms, max=236794.9ms
-  sensor_polling: mean=575.5ms, total=172.65s, count=300, min=464.6ms, max=1158.0ms
-  save_trajectories: mean=10.05s, total=10.05s, count=1, min=10050.0ms, max=10050.0ms
-  physics_step: mean=29.9ms, total=8.97s, count=300, min=15.6ms, max=124.7ms
-  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4511.3ms, max=4511.3ms
-  task_sampling: mean=605.9ms, total=605.9ms, count=1, min=605.9ms, max=605.9ms
-  task_specific_sample: mean=600.6ms, total=600.6ms, count=1, min=600.6ms, max=600.6ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=708.2us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=25.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:18:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:18:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:18:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:18:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:18:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:18:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:18:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:18:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:18:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:18:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:18:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:18:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034182m	[env.py: 870]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:18:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88937455  1.17090155  0.03418164] yaw=-131.6deg	[env.py: 1019]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.71034564  0.82354736  0.03418164] yaw=-152.9deg	[env.py: 1019]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93413686  0.51727021  0.03418164] yaw=-187.8deg	[env.py: 1019]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:18:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=230.8ms, total=230.8ms	[env.py: 1075]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.889, 1.171, 0.034)	[env.py: 1079]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.6 deg	[env.py: 1082]
-05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m	[env.py: 1086]
-05/10 10:18:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:18:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:18:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:18:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:18:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:18:45 INFO: [Worker 0] Worker 0 house 1 episode 149/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:18:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:18:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:18:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:18:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:18:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.736s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:18:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.643[m] 91.871[deg]	[grasp_sample.py: 539]
-05/10 10:18:48 ERROR: [Worker 0] Worker 0 house 1 episode 149 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 10:18:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:18:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:18:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:18:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:18:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:18:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:18:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:18:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:18:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:18:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:18:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005694m	[env.py: 870]
-05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:18:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16364947  1.1371821   0.00569439] yaw=-120.9deg	[env.py: 1019]
-05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65117295  0.47351328  0.00569439] yaw=175.1deg	[env.py: 1019]
-05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.14537532  1.12881586  0.00569439] yaw=-140.6deg	[env.py: 1019]
-05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:18:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=238.3ms, total=238.3ms	[env.py: 1075]
-05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.164, 1.137, 0.006)	[env.py: 1079]
-05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.9 deg	[env.py: 1082]
-05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
-05/10 10:18:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:18:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:18:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:18:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:18:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:18:50 INFO: [Worker 0] Worker 0 house 1 episode 150/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:18:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:18:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:18:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:18:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.130s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:18:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.670s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:18:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.438[m] 89.654[deg]	[grasp_sample.py: 539]
-05/10 10:18:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:18:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:18:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:18:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:19:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:19:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:19:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:19:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:19:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:19:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:19:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:19:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:19:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:19:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:20:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:20:39 INFO: [Worker 0] Worker 0 house 1 episode 160 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:20:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:20:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:20:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:20:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:20:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:20:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:20:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:20:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:20:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:20:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:20:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:20:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:20:54 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.807s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:20:54 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.279[deg]	[grasp_sample.py: 539]
-05/10 10:20:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:20:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:20:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:21:06 INFO: [Worker 0] Saved videos eagerly for episode 104 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:21:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 10:21:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:21:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:21:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:21:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:21:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:21:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:21:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:21:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:21:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:21:21 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.52s (batch: 5.15s, save: 10.37s)	[pipeline.py: 300]
-05/10 10:21:22 INFO: [Worker 0] [PROFILE] Episode 160 house 1 success=True episode_total=0.54s:
-  episode_total: mean=225.80s, total=225.80s, count=1, min=225795.9ms, max=225795.9ms
-  sensor_polling: mean=555.9ms, total=166.78s, count=300, min=450.7ms, max=1063.4ms
-  save_trajectories: mean=10.37s, total=10.37s, count=1, min=10372.0ms, max=10372.0ms
-  physics_step: mean=29.7ms, total=8.92s, count=300, min=19.1ms, max=83.4ms
-  save_batch_prep: mean=5.15s, total=5.15s, count=1, min=5146.2ms, max=5146.2ms
-  task_sampling: mean=541.1ms, total=541.1ms, count=1, min=541.1ms, max=541.1ms
-  task_specific_sample: mean=537.2ms, total=537.2ms, count=1, min=537.2ms, max=537.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=414.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:21:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:21:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:21:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:21:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:21:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:21:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:21:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:21:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:21:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:21:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:21:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012392m	[env.py: 870]
-05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:21:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90044601  0.4506536   0.01239184] yaw=167.0deg	[env.py: 1019]
-05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83803793  0.20241735  0.01239184] yaw=166.6deg	[env.py: 1019]
-05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77114276  0.05882707  0.01239184] yaw=145.1deg	[env.py: 1019]
-05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:21:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=559.3ms, total=559.3ms	[env.py: 1075]
-05/10 10:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.451, 0.012)	[env.py: 1079]
-05/10 10:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.0 deg	[env.py: 1082]
-05/10 10:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
-05/10 10:21:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:21:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:21:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:21:25 INFO: [Worker 0] Worker 0 house 1 episode 161/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:21:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.142s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:21:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:21:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:21:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:21:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:21:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.760s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:21:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.360[m] 84.044[deg]	[grasp_sample.py: 539]
-05/10 10:21:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:21:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:21:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:21:27 INFO: [Worker 0] Worker 0 house 1 episode 150 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:21:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:21:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:21:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:21:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:21:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:21:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:21:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:21:31 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.310s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:21:31 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.323[deg]	[grasp_sample.py: 539]
-05/10 10:21:33 ERROR: [Worker 0] Worker 0 house 1 episode 150 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 10:21:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:21:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:21:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:21:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:21:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:21:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:21:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:21:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:21:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.033m, effective arm-mount z=0.827m (base_body_z=-0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032805m	[env.py: 870]
-05/10 10:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:21:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99600755  0.42206074 -0.03280543] yaw=182.4deg	[env.py: 1019]
-05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79066609  0.51922224 -0.03280543] yaw=-181.9deg	[env.py: 1019]
-05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74881546  0.82000304 -0.03280543] yaw=-169.9deg	[env.py: 1019]
-05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:21:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=310.1ms, total=310.2ms	[env.py: 1075]
-05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.422, -0.033)	[env.py: 1079]
-05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.4 deg	[env.py: 1082]
-05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.709m	[env.py: 1086]
-05/10 10:21:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:21:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:21:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:21:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:21:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:21:35 INFO: [Worker 0] Worker 0 house 1 episode 151/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:21:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:21:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:21:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:21:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:21:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:21:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.319[m] 95.864[deg]	[grasp_sample.py: 539]
-05/10 10:21:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:21:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:21:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:21:45 INFO: [Worker 0] Worker 0 house 1 episode 156 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:21:52 INFO: [Worker 0] Saved videos eagerly for episode 114 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:21:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 10:21:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:22:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:22:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:22:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:22:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.07s (batch: 4.59s, save: 11.47s)	[pipeline.py: 300]
-05/10 10:22:09 INFO: [Worker 0] [PROFILE] Episode 150 house 1 success=True episode_total=0.41s:
-  episode_total: mean=236.17s, total=236.17s, count=1, min=236170.1ms, max=236170.1ms
-  sensor_polling: mean=553.9ms, total=166.17s, count=300, min=451.8ms, max=913.5ms
-  save_trajectories: mean=11.47s, total=11.47s, count=1, min=11472.7ms, max=11472.7ms
-  physics_step: mean=27.5ms, total=8.24s, count=300, min=16.8ms, max=123.6ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4594.4ms, max=4594.4ms
-  task_sampling: mean=414.9ms, total=414.9ms, count=1, min=414.9ms, max=414.9ms
-  task_specific_sample: mean=411.4ms, total=411.4ms, count=1, min=411.4ms, max=411.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=420.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:22:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:22:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:22:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:22:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:22:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:22:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:22:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021568m	[env.py: 870]
-05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:22:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92757101  1.0277865  -0.02156795] yaw=-147.7deg	[env.py: 1019]
-05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81102705  0.08119564 -0.02156795] yaw=156.8deg	[env.py: 1019]
-05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81313514  0.51958752 -0.02156795] yaw=-167.7deg	[env.py: 1019]
-05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:22:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.4ms, total=133.4ms	[env.py: 1075]
-05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.928, 1.028, -0.022)	[env.py: 1079]
-05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.7 deg	[env.py: 1082]
-05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
-05/10 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:22:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:22:12 INFO: [Worker 0] Worker 0 house 1 episode 151/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:22:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:22:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:22:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:22:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:22:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:22:19 INFO: [Worker 0] Saved videos eagerly for episode 115 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:22:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 10:22:19 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/10 10:22:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:22:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 9.504s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:22:21 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.518[m] 86.248[deg]	[grasp_sample.py: 539]
-05/10 10:22:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:22:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:22:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:22:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:22:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:22:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:22:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:22:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:22:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.35s (batch: 5.33s, save: 10.02s)	[pipeline.py: 300]
-05/10 10:22:35 INFO: [Worker 0] [PROFILE] Episode 156 house 1 success=True episode_total=2.44s:
-  episode_total: mean=156.10s, total=624.39s, count=4, min=8078.0ms, max=234740.6ms
-  sensor_polling: mean=551.4ms, total=483.03s, count=876, min=444.5ms, max=1160.1ms
-  physics_step: mean=28.4ms, total=24.91s, count=876, min=16.4ms, max=126.1ms
-  save_trajectories: mean=10.02s, total=10.02s, count=1, min=10020.1ms, max=10020.1ms
-  save_batch_prep: mean=5.33s, total=5.33s, count=1, min=5325.4ms, max=5325.4ms
-  task_sampling: mean=609.6ms, total=2.44s, count=4, min=404.8ms, max=788.3ms
-  task_specific_sample: mean=605.4ms, total=2.42s, count=4, min=400.5ms, max=784.0ms
-  scene_randomize: mean=2.1ms, total=8.3ms, count=4, min=1.3ms, max=3.2ms
-  mj_forward_sync: mean=517.0us, total=2.1ms, count=4, min=0.4ms, max=0.7ms
-  policy_setup: mean=18.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:22:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:22:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:22:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:22:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:22:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:22:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:22:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:22:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:22:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017094m	[env.py: 870]
-05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:22:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75659229  0.81279008  0.01709399] yaw=-152.8deg	[env.py: 1019]
-05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.95430921  0.95781728  0.01709399] yaw=-145.0deg	[env.py: 1019]
-05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:22:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.9ms, total=211.9ms	[env.py: 1075]
-05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.813, 0.017)	[env.py: 1079]
-05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.8 deg	[env.py: 1082]
-05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
-05/10 10:22:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:22:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:22:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:22:38 INFO: [Worker 0] Worker 0 house 1 episode 157/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:22:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:22:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:22:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:22:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:22:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.873s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:22:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.552[m] 80.908[deg]	[grasp_sample.py: 539]
-05/10 10:22:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:22:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:22:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:23:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:23:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:23:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:23:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:23:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:23:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:23:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:23:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:23:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:23:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:23:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:24:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:24:19 INFO: [Worker 0] Worker 0 house 1 episode 161 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:24:42 INFO: [Worker 0] Saved videos eagerly for episode 105 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:24:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 10:24:42 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/10 10:24:54 INFO: [Worker 0] Worker 0 house 1 episode 151 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:24:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:24:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:24:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.87s (batch: 4.84s, save: 10.03s)	[pipeline.py: 300]
-05/10 10:24:58 INFO: [Worker 0] [PROFILE] Episode 161 house 1 success=True episode_total=0.92s:
-  episode_total: mean=213.65s, total=213.65s, count=1, min=213649.2ms, max=213649.2ms
-  sensor_polling: mean=548.4ms, total=160.14s, count=292, min=442.1ms, max=1048.3ms
-  save_trajectories: mean=10.03s, total=10.03s, count=1, min=10030.2ms, max=10030.2ms
-  physics_step: mean=29.9ms, total=8.73s, count=292, min=19.1ms, max=111.0ms
-  save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4840.5ms, max=4840.5ms
-  task_sampling: mean=922.8ms, total=922.8ms, count=1, min=922.8ms, max=922.8ms
-  task_specific_sample: mean=917.7ms, total=917.7ms, count=1, min=917.7ms, max=917.7ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=667.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=23.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:24:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:24:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:24:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:24:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:24:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:24:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:24:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:24:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:24:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019343m	[env.py: 870]
-05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:24:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66031375  0.5490551  -0.01934298] yaw=-179.8deg	[env.py: 1019]
-05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.66718784  0.6948131  -0.01934298] yaw=-176.3deg	[env.py: 1019]
-05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80022234  0.71113032 -0.01934298] yaw=-156.7deg	[env.py: 1019]
-05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:24:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.1ms, total=131.1ms	[env.py: 1075]
-05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.660, 0.549, -0.019)	[env.py: 1079]
-05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.8 deg	[env.py: 1082]
-05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m	[env.py: 1086]
-05/10 10:24:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:24:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:25:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:25:00 INFO: [Worker 0] Worker 0 house 1 episode 162/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:25:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:25:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:25:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:25:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:25:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.848s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:25:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.577[m] 84.498[deg]	[grasp_sample.py: 539]
-05/10 10:25:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:25:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:25:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:25:14 INFO: [Worker 0] Worker 0 house 1 episode 151 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:25:19 INFO: [Worker 0] Saved videos eagerly for episode 111 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:25:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 10:25:19 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
-05/10 10:25:30 INFO: [Worker 0] Worker 0 house 1 episode 157 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:25:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:25:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:25:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.28s (batch: 4.40s, save: 8.88s)	[pipeline.py: 300]
-05/10 10:25:33 INFO: [Worker 0] [PROFILE] Episode 151 house 1 success=True episode_total=1.61s:
-  episode_total: mean=135.17s, total=405.52s, count=3, min=3876.4ms, max=238901.3ms
-  sensor_polling: mean=548.0ms, total=290.97s, count=531, min=465.1ms, max=1009.4ms
-  physics_step: mean=26.9ms, total=14.28s, count=531, min=18.2ms, max=169.1ms
-  save_trajectories: mean=8.88s, total=8.88s, count=1, min=8882.4ms, max=8882.4ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4397.3ms, max=4397.3ms
-  task_sampling: mean=535.7ms, total=1.61s, count=3, min=508.0ms, max=575.0ms
-  task_specific_sample: mean=532.2ms, total=1.60s, count=3, min=504.4ms, max=572.2ms
-  scene_randomize: mean=1.9ms, total=5.7ms, count=3, min=1.4ms, max=2.8ms
-  mj_forward_sync: mean=507.0us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=15.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:25:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:25:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:25:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:25:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:25:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:25:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:25:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:25:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:25:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000892m	[env.py: 870]
-05/10 10:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:25:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 128.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70431511  0.15506989 -0.00089161] yaw=172.6deg	[env.py: 1019]
-05/10 10:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:25:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=364.7ms, total=364.7ms	[env.py: 1075]
-05/10 10:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.704, 0.155, -0.001)	[env.py: 1079]
-05/10 10:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.6 deg	[env.py: 1082]
-05/10 10:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
-05/10 10:25:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:25:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:25:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:25:36 INFO: [Worker 0] Worker 0 house 1 episode 152/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:25:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:25:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:25:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:25:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:25:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.715s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:25:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.636[m] 96.576[deg]	[grasp_sample.py: 539]
-05/10 10:25:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:25:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:25:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:25:38 INFO: [Worker 0] Saved videos eagerly for episode 115 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:25:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 10:25:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:25:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:25:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:25:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.30s (batch: 4.79s, save: 10.50s)	[pipeline.py: 300]
-05/10 10:25:54 INFO: [Worker 0] [PROFILE] Episode 151 house 1 success=True episode_total=0.48s:
-  episode_total: mean=223.22s, total=223.22s, count=1, min=223224.4ms, max=223224.4ms
-  sensor_polling: mean=535.1ms, total=160.53s, count=300, min=461.8ms, max=929.2ms
-  save_trajectories: mean=10.50s, total=10.50s, count=1, min=10503.5ms, max=10503.5ms
-  physics_step: mean=26.9ms, total=8.08s, count=300, min=19.8ms, max=123.0ms
-  save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4794.4ms, max=4794.4ms
-  task_sampling: mean=481.8ms, total=481.8ms, count=1, min=481.8ms, max=481.8ms
-  task_specific_sample: mean=477.0ms, total=477.0ms, count=1, min=477.0ms, max=477.0ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=489.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:25:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:25:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:25:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:25:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:25:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:25:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:25:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020350m	[env.py: 870]
-05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:25:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84236465  0.4722271   0.02035001] yaw=174.7deg	[env.py: 1019]
-05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0236275   0.20682351  0.02035001] yaw=162.8deg	[env.py: 1019]
-05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97393117  1.20595112  0.02035001] yaw=-137.0deg	[env.py: 1019]
-05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:25:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.2ms, total=131.3ms	[env.py: 1075]
-05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.842, 0.472, 0.020)	[env.py: 1079]
-05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg	[env.py: 1082]
-05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
-05/10 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:25:56 INFO: [Worker 0] Saved videos eagerly for episode 116 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:25:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 10:25:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:25:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:25:57 INFO: [Worker 0] Worker 0 house 1 episode 152/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:25:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:25:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:25:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:25:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:25:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.529s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:25:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.380[m] 84.602[deg]	[grasp_sample.py: 539]
-05/10 10:25:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:25:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:25:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:26:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:26:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:26:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:26:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.90s (batch: 5.52s, save: 12.38s)	[pipeline.py: 300]
-05/10 10:26:15 INFO: [Worker 0] [PROFILE] Episode 157 house 1 success=True episode_total=0.57s:
-  episode_total: mean=218.20s, total=218.20s, count=1, min=218202.0ms, max=218202.0ms
-  sensor_polling: mean=528.3ms, total=158.49s, count=300, min=451.8ms, max=928.2ms
-  save_trajectories: mean=12.38s, total=12.38s, count=1, min=12383.0ms, max=12383.0ms
-  physics_step: mean=26.1ms, total=7.84s, count=300, min=19.8ms, max=70.8ms
-  save_batch_prep: mean=5.52s, total=5.52s, count=1, min=5516.8ms, max=5516.8ms
-  task_sampling: mean=570.9ms, total=570.9ms, count=1, min=570.9ms, max=570.9ms
-  task_specific_sample: mean=566.0ms, total=566.0ms, count=1, min=566.0ms, max=566.0ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=639.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:26:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:26:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:26:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:26:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:26:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:26:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:26:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:26:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:26:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006307m	[env.py: 870]
-05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:26:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8907326   1.19734006  0.00630688] yaw=-146.4deg	[env.py: 1019]
-05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96472961  0.78895548  0.00630688] yaw=-160.6deg	[env.py: 1019]
-05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90369145  0.46443051  0.00630688] yaw=187.2deg	[env.py: 1019]
-05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:26:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.0ms, total=154.0ms	[env.py: 1075]
-05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.891, 1.197, 0.006)	[env.py: 1079]
-05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.4 deg	[env.py: 1082]
-05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
-05/10 10:26:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:26:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:26:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:26:18 INFO: [Worker 0] Worker 0 house 1 episode 158/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:26:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:26:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:26:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:26:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:26:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:26:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.772s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:26:19 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.641[m] 76.306[deg]	[grasp_sample.py: 539]
-05/10 10:26:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:26:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:26:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:26:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:26:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:26:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:26:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:27:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:27:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:27:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:27:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:27:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:27:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:28:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:28:02 INFO: [Worker 0] Worker 0 house 1 episode 162 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:28:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:28:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:28:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:28:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:28:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:28:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:28:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:28:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:28:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:28:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:28:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:28:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:28:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.643s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:28:15 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.118[m] 2.836[deg]	[grasp_sample.py: 539]
-05/10 10:28:17 ERROR: [Worker 0] Worker 0 house 1 episode 158 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 10:28:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:28:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:28:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:28:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:28:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:28:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:28:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010769m	[env.py: 870]
-05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:28:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04949915  1.20321381 -0.01076916] yaw=-131.0deg	[env.py: 1019]
-05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8387548   1.12614464 -0.01076916] yaw=-141.9deg	[env.py: 1019]
-05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.690188    0.56613543 -0.01076916] yaw=-179.0deg	[env.py: 1019]
-05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:28:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.3ms, total=121.3ms	[env.py: 1075]
-05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.049, 1.203, -0.011)	[env.py: 1079]
-05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.0 deg	[env.py: 1082]
-05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
-05/10 10:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:28:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:28:19 INFO: [Worker 0] Worker 0 house 1 episode 159/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:28:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:28:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:28:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:28:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:28:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.840s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:28:22 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.597[m] 91.328[deg]	[grasp_sample.py: 539]
-05/10 10:28:24 ERROR: [Worker 0] Worker 0 house 1 episode 159 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 10:28:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:28:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:28:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:28:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:28:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:28:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:28:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:28:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:28:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024379m	[env.py: 870]
-05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:28:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07887086  0.81942456 -0.02437925] yaw=-161.1deg	[env.py: 1019]
-05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87773308  0.16098507 -0.02437925] yaw=154.2deg	[env.py: 1019]
-05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.60695613  0.47775381 -0.02437925] yaw=180.3deg	[env.py: 1019]
-05/10 10:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:28:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.0ms, total=129.1ms	[env.py: 1075]
-05/10 10:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.079, 0.819, -0.024)	[env.py: 1079]
-05/10 10:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg	[env.py: 1082]
-05/10 10:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.709m	[env.py: 1086]
-05/10 10:28:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:28:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:28:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:28:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:28:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:28:26 INFO: [Worker 0] Worker 0 house 1 episode 160/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:28:26 INFO: [Worker 0] Saved videos eagerly for episode 106 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:28:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 10:28:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:28:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:28:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:28:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:28:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:28:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.468s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:28:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.326[m] 92.344[deg]	[grasp_sample.py: 539]
-05/10 10:28:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:28:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:28:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:28:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:28:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:28:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.68s (batch: 4.40s, save: 9.28s)	[pipeline.py: 300]
-05/10 10:28:40 INFO: [Worker 0] Worker 0 house 1 episode 152 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:28:40 INFO: [Worker 0] [PROFILE] Episode 162 house 1 success=True episode_total=0.46s:
-  episode_total: mean=221.17s, total=221.17s, count=1, min=221167.4ms, max=221167.4ms
-  sensor_polling: mean=560.4ms, total=168.11s, count=300, min=456.0ms, max=888.7ms
-  save_trajectories: mean=9.28s, total=9.28s, count=1, min=9275.2ms, max=9275.2ms
-  physics_step: mean=28.0ms, total=8.41s, count=300, min=18.5ms, max=133.1ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4404.5ms, max=4404.5ms
-  task_sampling: mean=463.4ms, total=463.4ms, count=1, min=463.4ms, max=463.4ms
-  task_specific_sample: mean=459.2ms, total=459.2ms, count=1, min=459.2ms, max=459.2ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=472.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:28:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:28:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:28:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:28:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:28:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:28:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:28:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:28:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:28:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:28:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:28:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029967m	[env.py: 870]
-05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:28:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76634496  0.72281247  0.02996681] yaw=-168.5deg	[env.py: 1019]
-05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.65991225  0.78499348  0.02996681] yaw=-167.0deg	[env.py: 1019]
-05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.80840308  0.01512579  0.02996681] yaw=145.2deg	[env.py: 1019]
-05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:28:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.9ms, total=205.0ms	[env.py: 1075]
-05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.766, 0.723, 0.030)	[env.py: 1079]
-05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.5 deg	[env.py: 1082]
-05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
-05/10 10:28:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:28:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:28:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:28:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:28:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:28:43 INFO: [Worker 0] Worker 0 house 1 episode 163/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:28:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:28:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:28:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:28:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:28:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.545s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:28:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.537[m] 91.097[deg]	[grasp_sample.py: 539]
-05/10 10:28:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:28:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:28:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:28:56 INFO: [Worker 0] Worker 0 house 1 episode 152 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:29:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:29:09 INFO: [Worker 0] Saved videos eagerly for episode 112 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:29:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 10:29:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:29:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:29:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:29:24 INFO: [Worker 0] Saved videos eagerly for episode 116 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:29:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 10:29:24 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
-05/10 10:29:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:29:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:29:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.36s (batch: 4.85s, save: 10.52s)	[pipeline.py: 300]
-05/10 10:29:25 INFO: [Worker 0] [PROFILE] Episode 152 house 1 success=True episode_total=0.66s:
-  episode_total: mean=229.75s, total=229.75s, count=1, min=229746.7ms, max=229746.7ms
-  sensor_polling: mean=560.8ms, total=168.24s, count=300, min=443.5ms, max=935.8ms
-  save_trajectories: mean=10.52s, total=10.52s, count=1, min=10515.7ms, max=10515.7ms
-  physics_step: mean=28.0ms, total=8.40s, count=300, min=15.4ms, max=79.9ms
-  save_batch_prep: mean=4.85s, total=4.85s, count=1, min=4846.7ms, max=4846.7ms
-  task_sampling: mean=663.3ms, total=663.3ms, count=1, min=663.3ms, max=663.3ms
-  task_specific_sample: mean=658.6ms, total=658.6ms, count=1, min=658.6ms, max=658.6ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=641.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:29:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:29:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:29:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:29:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:29:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:29:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:29:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020534m	[env.py: 870]
-05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:29:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.62582231  0.34972626  0.0205343 ] yaw=171.8deg	[env.py: 1019]
-05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98834692  1.01022575  0.0205343 ] yaw=-146.2deg	[env.py: 1019]
-05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94920323  0.76380187  0.0205343 ] yaw=-156.6deg	[env.py: 1019]
-05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:29:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.9ms, total=173.0ms	[env.py: 1075]
-05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.626, 0.350, 0.021)	[env.py: 1079]
-05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.8 deg	[env.py: 1082]
-05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
-05/10 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:29:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:29:27 INFO: [Worker 0] Worker 0 house 1 episode 153/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:29:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:29:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:29:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:29:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:29:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.884s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:29:29 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.635[m] 89.018[deg]	[grasp_sample.py: 539]
-05/10 10:29:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:29:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:29:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:29:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:29:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:29:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.22s (batch: 5.03s, save: 10.20s)	[pipeline.py: 300]
-05/10 10:29:40 INFO: [Worker 0] [PROFILE] Episode 152 house 1 success=True episode_total=0.49s:
-  episode_total: mean=223.58s, total=223.58s, count=1, min=223583.1ms, max=223583.1ms
-  sensor_polling: mean=558.8ms, total=165.40s, count=296, min=458.2ms, max=950.2ms
-  save_trajectories: mean=10.20s, total=10.20s, count=1, min=10195.3ms, max=10195.3ms
-  physics_step: mean=29.9ms, total=8.86s, count=296, min=19.9ms, max=103.9ms
-  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5026.3ms, max=5026.3ms
-  task_sampling: mean=488.1ms, total=488.1ms, count=1, min=488.1ms, max=488.1ms
-  task_specific_sample: mean=483.8ms, total=483.8ms, count=1, min=483.8ms, max=483.8ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=477.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:29:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:29:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:29:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:29:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:29:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:29:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:29:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:29:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:29:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006545m	[env.py: 870]
-05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:29:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8915572   0.47411228 -0.00654451] yaw=172.5deg	[env.py: 1019]
-05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87889138  0.29455887 -0.00654451] yaw=175.9deg	[env.py: 1019]
-05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68909041  0.30397928 -0.00654451] yaw=181.1deg	[env.py: 1019]
-05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:29:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.5ms, total=190.6ms	[env.py: 1075]
-05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.474, -0.007)	[env.py: 1079]
-05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.5 deg	[env.py: 1082]
-05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
-05/10 10:29:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:29:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:29:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:29:42 INFO: [Worker 0] Worker 0 house 1 episode 153/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:29:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:29:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:29:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:29:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:29:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.491s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:29:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.358[m] 89.140[deg]	[grasp_sample.py: 539]
-05/10 10:29:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:29:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:29:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:29:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:29:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:30:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:30:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:30:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:30:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:30:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:30:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:31:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:31:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:31:16 INFO: [Worker 0] Worker 0 house 1 episode 160 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:31:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:31:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:31:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:31:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:31:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:31:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:31:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:31:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:31:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:31:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:31:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:31:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:31:29 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.490s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:31:29 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.313[deg]	[grasp_sample.py: 539]
-05/10 10:31:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:31:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:31:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:31:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:31:37 INFO: [Worker 0] Worker 0 house 1 episode 163 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:31:40 INFO: [Worker 0] Saved videos eagerly for episode 117 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:31:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 10:31:40 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
-05/10 10:31:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:31:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:31:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:31:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:31:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.61s (batch: 4.99s, save: 10.63s)	[pipeline.py: 300]
-05/10 10:31:56 INFO: [Worker 0] [PROFILE] Episode 160 house 1 success=True episode_total=1.32s:
-  episode_total: mean=111.80s, total=335.41s, count=3, min=4549.6ms, max=210927.8ms
-  sensor_polling: mean=556.4ms, total=254.26s, count=457, min=465.9ms, max=996.7ms
-  physics_step: mean=27.1ms, total=12.37s, count=457, min=16.8ms, max=125.7ms
-  save_trajectories: mean=10.63s, total=10.63s, count=1, min=10626.5ms, max=10626.5ms
-  save_batch_prep: mean=4.99s, total=4.99s, count=1, min=4985.7ms, max=4985.7ms
-  task_sampling: mean=440.6ms, total=1.32s, count=3, min=404.4ms, max=503.1ms
-  task_specific_sample: mean=436.3ms, total=1.31s, count=3, min=401.3ms, max=498.2ms
-  scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.3ms, max=3.3ms
-  mj_forward_sync: mean=506.5us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=16.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:31:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:31:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:31:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:31:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:31:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:31:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:31:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031599m	[env.py: 870]
-05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:31:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72370039  0.18239454  0.03159898] yaw=168.6deg	[env.py: 1019]
-05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02634324  0.1639165   0.03159898] yaw=160.9deg	[env.py: 1019]
-05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92164756  0.08849697  0.03159898] yaw=150.2deg	[env.py: 1019]
-05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:31:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.1ms, total=160.2ms	[env.py: 1075]
-05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.724, 0.182, 0.032)	[env.py: 1079]
-05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.6 deg	[env.py: 1082]
-05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m	[env.py: 1086]
-05/10 10:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:31:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:31:59 INFO: [Worker 0] Worker 0 house 1 episode 161/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:31:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:31:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:31:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:31:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:32:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.102s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:32:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.582[m] 90.028[deg]	[grasp_sample.py: 539]
-05/10 10:32:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:32:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:32:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:32:03 INFO: [Worker 0] Saved videos eagerly for episode 107 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:32:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 10:32:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:32:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:32:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:32:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:32:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:32:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:32:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:32:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:32:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:32:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.75s (batch: 5.00s, save: 9.75s)	[pipeline.py: 300]
-05/10 10:32:18 INFO: [Worker 0] [PROFILE] Episode 163 house 1 success=True episode_total=0.56s:
-  episode_total: mean=216.18s, total=216.18s, count=1, min=216183.9ms, max=216183.9ms
-  sensor_polling: mean=539.9ms, total=161.98s, count=300, min=455.3ms, max=1045.8ms
-  save_trajectories: mean=9.75s, total=9.75s, count=1, min=9748.0ms, max=9748.0ms
-  physics_step: mean=26.1ms, total=7.84s, count=300, min=18.7ms, max=70.0ms
-  save_batch_prep: mean=5.00s, total=5.00s, count=1, min=5002.8ms, max=5002.8ms
-  task_sampling: mean=561.7ms, total=561.7ms, count=1, min=561.7ms, max=561.7ms
-  task_specific_sample: mean=556.9ms, total=556.9ms, count=1, min=556.9ms, max=556.9ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=602.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:32:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:32:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:32:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:32:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:32:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:32:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:32:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:32:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:32:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:32:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:32:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:32:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:32:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:32:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:32:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:32:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:32:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:32:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014002m	[env.py: 870]
-05/10 10:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:32:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87009236  0.48527953  0.01400217] yaw=-173.0deg	[env.py: 1019]
-05/10 10:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01116921  0.64930062  0.01400217] yaw=-175.0deg	[env.py: 1019]
-05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90509898  0.88218001  0.01400217] yaw=-146.1deg	[env.py: 1019]
-05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:32:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=359.1ms, total=359.1ms	[env.py: 1075]
-05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.485, 0.014)	[env.py: 1079]
-05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.0 deg	[env.py: 1082]
-05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
-05/10 10:32:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:32:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:32:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:32:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:32:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:32:21 INFO: [Worker 0] Worker 0 house 1 episode 164/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:32:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:32:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:32:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:32:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:32:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.540s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:32:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.366[m] 86.964[deg]	[grasp_sample.py: 539]
-05/10 10:32:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:32:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:32:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:32:26 INFO: [Worker 0] Feasibility-checked 76 grasps in 5.339s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:32:26 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.037[m] 10.359[deg]	[grasp_sample.py: 539]
-05/10 10:32:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:32:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:32:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:32:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:32:38 INFO: [Worker 0] Worker 0 house 1 episode 153 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:32:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:32:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:33:03 INFO: [Worker 0] Worker 0 house 1 episode 153 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 10:33:03 INFO: [Worker 0] [PROFILE] Episode 153 house 1 success=False episode_total=0.50s:
-  episode_total: mean=216.50s, total=216.50s, count=1, min=216499.3ms, max=216499.3ms
-  sensor_polling: mean=568.4ms, total=170.52s, count=300, min=454.1ms, max=1040.4ms
-  physics_step: mean=26.3ms, total=7.90s, count=300, min=15.4ms, max=134.0ms
-  task_sampling: mean=500.7ms, total=500.7ms, count=1, min=500.7ms, max=500.7ms
-  task_specific_sample: mean=496.1ms, total=496.1ms, count=1, min=496.1ms, max=496.1ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=575.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:33:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:33:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:33:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:33:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:33:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:33:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:33:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:33:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:33:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:33:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:33:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024115m	[env.py: 870]
-05/10 10:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:33:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72854957  0.90222906 -0.02411513] yaw=-157.4deg	[env.py: 1019]
-05/10 10:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7194303   0.65881242 -0.02411513] yaw=-161.6deg	[env.py: 1019]
-05/10 10:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99889534  1.03808561 -0.02411513] yaw=-137.4deg	[env.py: 1019]
-05/10 10:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:33:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=75.4ms, total=75.5ms	[env.py: 1075]
-05/10 10:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.729, 0.902, -0.024)	[env.py: 1079]
-05/10 10:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.4 deg	[env.py: 1082]
-05/10 10:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m	[env.py: 1086]
-05/10 10:33:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:33:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:33:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:33:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:33:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:33:06 INFO: [Worker 0] Worker 0 house 1 episode 154/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:33:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:33:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:33:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:33:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:33:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:33:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.834s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:33:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.601[m] 82.419[deg]	[grasp_sample.py: 539]
-05/10 10:33:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:33:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:33:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:33:09 INFO: [Worker 0] Saved videos eagerly for episode 117 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:33:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 10:33:09 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/10 10:33:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:33:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:33:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:33:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:33:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:33:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:33:26 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.18s (batch: 5.21s, save: 11.97s)	[pipeline.py: 300]
-05/10 10:33:26 INFO: [Worker 0] [PROFILE] Episode 153 house 1 success=True episode_total=0.52s:
-  episode_total: mean=224.90s, total=224.90s, count=1, min=224899.4ms, max=224899.4ms
-  sensor_polling: mean=556.8ms, total=162.60s, count=292, min=467.2ms, max=946.6ms
-  save_trajectories: mean=11.97s, total=11.97s, count=1, min=11974.0ms, max=11974.0ms
-  physics_step: mean=29.8ms, total=8.69s, count=292, min=19.5ms, max=123.1ms
-  save_batch_prep: mean=5.21s, total=5.21s, count=1, min=5210.1ms, max=5210.1ms
-  task_sampling: mean=524.9ms, total=524.9ms, count=1, min=524.9ms, max=524.9ms
-  task_specific_sample: mean=520.9ms, total=520.9ms, count=1, min=520.9ms, max=520.9ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=431.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:33:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:33:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:33:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:33:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:33:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:33:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:33:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:33:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:33:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005479m	[env.py: 870]
-05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:33:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94389175  0.19196356 -0.00547917] yaw=159.9deg	[env.py: 1019]
-05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95527989  0.47714563 -0.00547917] yaw=184.0deg	[env.py: 1019]
-05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.65333047  0.23436948 -0.00547917] yaw=177.2deg	[env.py: 1019]
-05/10 10:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:33:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.8ms, total=217.9ms	[env.py: 1075]
-05/10 10:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.192, -0.005)	[env.py: 1079]
-05/10 10:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.9 deg	[env.py: 1082]
-05/10 10:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m	[env.py: 1086]
-05/10 10:33:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:33:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:33:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:33:29 INFO: [Worker 0] Worker 0 house 1 episode 154/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:33:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:33:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:33:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:33:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:33:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:33:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:33:30 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.385[m] 91.154[deg]	[grasp_sample.py: 539]
-05/10 10:33:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:33:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:33:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:34:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:34:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:34:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:34:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:34:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:34:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:35:05 INFO: [Worker 0] Worker 0 house 1 episode 161 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:35:20 INFO: [Worker 0] Worker 0 house 1 episode 164 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:35:29 INFO: [Worker 0] Saved videos eagerly for episode 118 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:35:29 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 10:35:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:35:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:35:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:35:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:35:43 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.76s (batch: 4.66s, save: 9.09s)	[pipeline.py: 300]
-05/10 10:35:43 INFO: [Worker 0] Saved videos eagerly for episode 108 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:35:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 10:35:43 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
-05/10 10:35:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:35:43 INFO: [Worker 0] [PROFILE] Episode 161 house 1 success=True episode_total=0.47s:
-  episode_total: mean=225.23s, total=225.23s, count=1, min=225225.6ms, max=225225.6ms
-  sensor_polling: mean=564.0ms, total=169.21s, count=300, min=472.5ms, max=1043.6ms
-  save_trajectories: mean=9.09s, total=9.09s, count=1, min=9093.4ms, max=9093.4ms
-  physics_step: mean=30.2ms, total=9.07s, count=300, min=15.5ms, max=135.3ms
-  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4662.3ms, max=4662.3ms
-  task_sampling: mean=465.4ms, total=465.4ms, count=1, min=465.4ms, max=465.4ms
-  task_specific_sample: mean=460.4ms, total=460.4ms, count=1, min=460.4ms, max=460.4ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=614.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:35:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:35:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:35:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:35:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:35:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:35:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:35:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:35:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:35:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:35:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003531m	[env.py: 870]
-05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:35:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.14354374  1.15530204  0.00353141] yaw=-134.3deg	[env.py: 1019]
-05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:35:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=318.8ms, total=318.8ms	[env.py: 1075]
-05/10 10:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.144, 1.155, 0.004)	[env.py: 1079]
-05/10 10:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.3 deg	[env.py: 1082]
-05/10 10:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
-05/10 10:35:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:35:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:35:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:35:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:35:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:35:46 INFO: [Worker 0] Worker 0 house 1 episode 162/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:35:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:35:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:35:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:35:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:35:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.687s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:35:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.480[m] 96.004[deg]	[grasp_sample.py: 539]
-05/10 10:35:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:35:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:35:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:35:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:35:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:35:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:35:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:35:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:35:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:35:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:35:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:35:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:35:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:35:59 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.622s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:35:59 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.200[deg]	[grasp_sample.py: 539]
-05/10 10:35:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:36:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:36:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:36:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:36:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:36:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.17s (batch: 4.75s, save: 12.42s)	[pipeline.py: 300]
-05/10 10:36:00 INFO: [Worker 0] Worker 0 house 1 episode 154 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:36:01 INFO: [Worker 0] [PROFILE] Episode 164 house 1 success=True episode_total=0.69s:
-  episode_total: mean=220.67s, total=220.67s, count=1, min=220668.9ms, max=220668.9ms
-  sensor_polling: mean=563.3ms, total=166.17s, count=295, min=464.8ms, max=1082.4ms
-  save_trajectories: mean=12.42s, total=12.42s, count=1, min=12421.0ms, max=12421.0ms
-  physics_step: mean=26.8ms, total=7.90s, count=295, min=16.0ms, max=98.9ms
-  save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4747.8ms, max=4747.8ms
-  task_sampling: mean=689.6ms, total=689.6ms, count=1, min=689.6ms, max=689.6ms
-  task_specific_sample: mean=685.0ms, total=685.0ms, count=1, min=685.0ms, max=685.0ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=549.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:36:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:36:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:36:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:36:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:36:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:36:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:36:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002045m	[env.py: 870]
-05/10 10:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:36:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83191021  0.44924447 -0.00204528] yaw=168.0deg	[env.py: 1019]
-05/10 10:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.22135335  1.07422114 -0.00204528] yaw=-137.0deg	[env.py: 1019]
-05/10 10:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:36:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=584.2ms, total=584.3ms	[env.py: 1075]
-05/10 10:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.832, 0.449, -0.002)	[env.py: 1079]
-05/10 10:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.0 deg	[env.py: 1082]
-05/10 10:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
-05/10 10:36:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:36:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:36:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:36:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:36:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:36:04 INFO: [Worker 0] Worker 0 house 1 episode 165/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:36:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:36:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:36:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:36:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:36:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.697s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:36:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.429[m] 87.566[deg]	[grasp_sample.py: 539]
-05/10 10:36:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:36:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:36:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:36:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:36:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:36:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:36:32 INFO: [Worker 0] Saved videos eagerly for episode 113 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:36:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 10:36:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:36:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:36:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:36:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:36:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:36:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:36:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:36:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:36:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:36:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.59s (batch: 5.34s, save: 11.25s)	[pipeline.py: 300]
-05/10 10:36:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:36:50 INFO: [Worker 0] [PROFILE] Episode 154 house 1 success=True episode_total=0.40s:
-  episode_total: mean=224.33s, total=224.33s, count=1, min=224327.6ms, max=224327.6ms
-  sensor_polling: mean=536.8ms, total=161.05s, count=300, min=461.5ms, max=1210.4ms
-  save_trajectories: mean=11.25s, total=11.25s, count=1, min=11251.1ms, max=11251.1ms
-  physics_step: mean=25.7ms, total=7.71s, count=300, min=18.4ms, max=161.0ms
-  save_batch_prep: mean=5.34s, total=5.34s, count=1, min=5338.0ms, max=5338.0ms
-  task_sampling: mean=403.2ms, total=403.2ms, count=1, min=403.2ms, max=403.2ms
-  task_specific_sample: mean=399.9ms, total=399.9ms, count=1, min=399.9ms, max=399.9ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=406.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:36:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:36:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:36:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:36:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:36:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:36:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:36:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:36:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036894m	[env.py: 870]
-05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:36:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81319067  0.84279271 -0.03689426] yaw=-158.3deg	[env.py: 1019]
-05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72178746  0.28586882 -0.03689426] yaw=157.9deg	[env.py: 1019]
-05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73861035  0.1477416  -0.03689426] yaw=151.0deg	[env.py: 1019]
-05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:36:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.7ms, total=207.7ms	[env.py: 1075]
-05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.813, 0.843, -0.037)	[env.py: 1079]
-05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.3 deg	[env.py: 1082]
-05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m	[env.py: 1086]
-05/10 10:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:36:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:36:52 INFO: [Worker 0] Worker 0 house 1 episode 155/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:36:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:36:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:36:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:36:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:36:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.683s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:36:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.532[m] 91.385[deg]	[grasp_sample.py: 539]
-05/10 10:36:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:36:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:36:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:36:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:36:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:36:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:36:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.107s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:36:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:36:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:36:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:36:56 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.802s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:36:56 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.814[deg]	[grasp_sample.py: 539]
-05/10 10:36:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:36:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:36:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:36:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:36:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:37:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:37:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:37:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:37:16 INFO: [Worker 0] Worker 0 house 1 episode 154 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:37:46 INFO: [Worker 0] Saved videos eagerly for episode 118 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:37:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 10:37:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:37:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:37:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:37:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:37:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.85s (batch: 4.70s, save: 9.14s)	[pipeline.py: 300]
-05/10 10:38:00 INFO: [Worker 0] [PROFILE] Episode 154 house 1 success=True episode_total=0.55s:
-  episode_total: mean=271.89s, total=271.89s, count=1, min=271891.3ms, max=271891.3ms
-  sensor_polling: mean=557.6ms, total=167.28s, count=300, min=472.0ms, max=989.8ms
-  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9144.2ms, max=9144.2ms
-  physics_step: mean=26.1ms, total=7.82s, count=300, min=16.2ms, max=119.6ms
-  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4701.9ms, max=4701.9ms
-  task_sampling: mean=550.9ms, total=550.9ms, count=1, min=550.9ms, max=550.9ms
-  task_specific_sample: mean=546.4ms, total=546.4ms, count=1, min=546.4ms, max=546.4ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=576.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:38:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:38:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:38:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:38:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:38:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:38:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:38:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:38:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:38:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032536m	[env.py: 870]
-05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:38:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84800495  0.79434042  0.03253581] yaw=-165.5deg	[env.py: 1019]
-05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75472482  0.37271118  0.03253581] yaw=163.6deg	[env.py: 1019]
-05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82936852  0.183176    0.03253581] yaw=159.6deg	[env.py: 1019]
-05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:38:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.8ms, total=192.9ms	[env.py: 1075]
-05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.794, 0.033)	[env.py: 1079]
-05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.5 deg	[env.py: 1082]
-05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
-05/10 10:38:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:38:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:38:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:38:02 INFO: [Worker 0] Worker 0 house 1 episode 155/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:38:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:38:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:38:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:38:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:38:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.614s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:38:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.429[m] 80.904[deg]	[grasp_sample.py: 539]
-05/10 10:38:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:38:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:38:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:38:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:38:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:38:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:38:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:38:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:38:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:38:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:38:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:38:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:38:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:38:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:38:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:38:22 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.624s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:38:22 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.095[m] 3.785[deg]	[grasp_sample.py: 539]
-05/10 10:38:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:38:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:38:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:38:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:38:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:38:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:38:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:38:57 INFO: [Worker 0] Worker 0 house 1 episode 162 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:39:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:39:04 INFO: [Worker 0] Worker 0 house 1 episode 165 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:39:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:39:26 INFO: [Worker 0] Saved videos eagerly for episode 119 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:39:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 10:39:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:39:32 INFO: [Worker 0] Saved videos eagerly for episode 109 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:39:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 10:39:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:39:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:39:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:39:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.39s (batch: 4.38s, save: 9.02s)	[pipeline.py: 300]
-05/10 10:39:40 INFO: [Worker 0] [PROFILE] Episode 162 house 1 success=True episode_total=0.66s:
-  episode_total: mean=234.49s, total=234.49s, count=1, min=234489.1ms, max=234489.1ms
-  sensor_polling: mean=548.4ms, total=164.51s, count=300, min=461.4ms, max=989.7ms
-  save_trajectories: mean=9.02s, total=9.02s, count=1, min=9016.6ms, max=9016.6ms
-  physics_step: mean=27.7ms, total=8.32s, count=300, min=18.8ms, max=113.5ms
-  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4376.1ms, max=4376.1ms
-  task_sampling: mean=657.1ms, total=657.1ms, count=1, min=657.1ms, max=657.1ms
-  task_specific_sample: mean=652.6ms, total=652.6ms, count=1, min=652.6ms, max=652.6ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=534.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:39:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:39:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:39:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:39:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:39:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:39:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:39:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:39:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:39:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045616m	[env.py: 870]
-05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:39:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.21243244  1.02235223  0.04561607] yaw=-139.3deg	[env.py: 1019]
-05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9857364   0.47652118  0.04561607] yaw=174.9deg	[env.py: 1019]
-05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.13003678  1.09938562  0.04561607] yaw=-138.2deg	[env.py: 1019]
-05/10 10:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:39:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=182.7ms, total=182.7ms	[env.py: 1075]
-05/10 10:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.212, 1.022, 0.046)	[env.py: 1079]
-05/10 10:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.3 deg	[env.py: 1082]
-05/10 10:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.729m	[env.py: 1086]
-05/10 10:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:39:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:39:42 INFO: [Worker 0] Worker 0 house 1 episode 163/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:39:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:39:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:39:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:39:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:39:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.531s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:39:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.306[m] 81.801[deg]	[grasp_sample.py: 539]
-05/10 10:39:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:39:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:39:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:39:46 INFO: [Worker 0] Worker 0 house 1 episode 155 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:39:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:39:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:39:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.78s (batch: 4.30s, save: 9.48s)	[pipeline.py: 300]
-05/10 10:39:47 INFO: [Worker 0] [PROFILE] Episode 165 house 1 success=True episode_total=0.95s:
-  episode_total: mean=223.79s, total=223.79s, count=1, min=223785.7ms, max=223785.7ms
-  sensor_polling: mean=547.4ms, total=164.22s, count=300, min=455.2ms, max=957.4ms
-  save_trajectories: mean=9.48s, total=9.48s, count=1, min=9481.7ms, max=9481.7ms
-  physics_step: mean=29.0ms, total=8.70s, count=300, min=18.6ms, max=113.1ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4298.5ms, max=4298.5ms
-  task_sampling: mean=952.8ms, total=952.8ms, count=1, min=952.8ms, max=952.8ms
-  task_specific_sample: mean=940.8ms, total=940.8ms, count=1, min=940.8ms, max=940.8ms
-  scene_randomize: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms
-  mj_forward_sync: mean=779.9us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
-  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:39:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:39:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:39:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:39:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:39:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:39:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:39:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:39:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:39:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005081m	[env.py: 870]
-05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:39:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 126.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88685486  1.10436118  0.00508126] yaw=-146.0deg	[env.py: 1019]
-05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.99585375  0.42656245  0.00508126] yaw=176.8deg	[env.py: 1019]
-05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:39:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=282.2ms, total=282.3ms	[env.py: 1075]
-05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.887, 1.104, 0.005)	[env.py: 1079]
-05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.0 deg	[env.py: 1082]
-05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
-05/10 10:39:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:39:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:39:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:39:49 INFO: [Worker 0] Worker 0 house 1 episode 166/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:39:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:39:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:39:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:39:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.156s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:39:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.156s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:39:55 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.612[m] 91.166[deg]	[grasp_sample.py: 539]
-05/10 10:39:56 ERROR: [Worker 0] Worker 0 house 1 episode 166 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 10:39:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:39:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:39:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:39:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:39:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:39:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:39:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:39:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:39:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046426m	[env.py: 870]
-05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:39:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90207877  0.22552062  0.04642603] yaw=164.7deg	[env.py: 1019]
-05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93424826  0.87252624  0.04642603] yaw=-148.9deg	[env.py: 1019]
-05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92320495  0.95230253  0.04642603] yaw=-153.9deg	[env.py: 1019]
-05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:39:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.0ms, total=213.0ms	[env.py: 1075]
-05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.902, 0.226, 0.046)	[env.py: 1079]
-05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.7 deg	[env.py: 1082]
-05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
-05/10 10:39:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:39:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:39:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:39:58 INFO: [Worker 0] Worker 0 house 1 episode 167/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:39:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:39:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:39:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:39:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:39:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.546s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:39:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.396[m] 93.281[deg]	[grasp_sample.py: 539]
-05/10 10:39:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:39:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:39:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:40:13 INFO: [Worker 0] Saved videos eagerly for episode 114 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:40:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 10:40:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:40:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:40:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:40:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:40:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:40:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.78s (batch: 4.70s, save: 11.08s)	[pipeline.py: 300]
-05/10 10:40:29 INFO: [Worker 0] [PROFILE] Episode 155 house 1 success=True episode_total=0.53s:
-  episode_total: mean=217.51s, total=217.51s, count=1, min=217513.1ms, max=217513.1ms
-  sensor_polling: mean=535.0ms, total=160.51s, count=300, min=447.4ms, max=1019.5ms
-  save_trajectories: mean=11.08s, total=11.08s, count=1, min=11078.5ms, max=11078.5ms
-  physics_step: mean=26.2ms, total=7.87s, count=300, min=15.4ms, max=130.8ms
-  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4704.7ms, max=4704.7ms
-  task_sampling: mean=526.1ms, total=526.1ms, count=1, min=526.1ms, max=526.1ms
-  task_specific_sample: mean=522.1ms, total=522.1ms, count=1, min=522.1ms, max=522.1ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=530.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:40:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:40:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:40:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:40:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:40:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:40:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:40:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:40:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:40:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:40:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:40:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018894m	[env.py: 870]
-05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:40:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.010363    1.20606765  0.01889407] yaw=-131.3deg	[env.py: 1019]
-05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69957562  0.17794481  0.01889407] yaw=174.1deg	[env.py: 1019]
-05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.94226218  0.60872678  0.01889407] yaw=-179.4deg	[env.py: 1019]
-05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:40:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=453.9ms, total=453.9ms	[env.py: 1075]
-05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.010, 1.206, 0.019)	[env.py: 1079]
-05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.3 deg	[env.py: 1082]
-05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
-05/10 10:40:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:40:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:40:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:40:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:40:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:40:32 INFO: [Worker 0] Worker 0 house 1 episode 156/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:40:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:40:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:40:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:40:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:40:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:40:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.820s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:40:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.616[m] 99.952[deg]	[grasp_sample.py: 539]
-05/10 10:40:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:40:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:40:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:40:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:40:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:40:58 INFO: [Worker 0] Worker 0 house 1 episode 155 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:41:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:41:21 INFO: [Worker 0] Saved videos eagerly for episode 119 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:41:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 10:41:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:41:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:41:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:41:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.47s (batch: 5.64s, save: 10.83s)	[pipeline.py: 300]
-05/10 10:41:39 INFO: [Worker 0] [PROFILE] Episode 155 house 1 success=True episode_total=0.54s:
-  episode_total: mean=216.84s, total=216.84s, count=1, min=216837.2ms, max=216837.2ms
-  sensor_polling: mean=543.3ms, total=163.00s, count=300, min=452.3ms, max=1078.7ms
-  save_trajectories: mean=10.83s, total=10.83s, count=1, min=10831.6ms, max=10831.6ms
-  physics_step: mean=26.5ms, total=7.96s, count=300, min=17.1ms, max=84.7ms
-  save_batch_prep: mean=5.64s, total=5.64s, count=1, min=5637.0ms, max=5637.0ms
-  task_sampling: mean=536.4ms, total=536.4ms, count=1, min=536.4ms, max=536.4ms
-  task_specific_sample: mean=532.5ms, total=532.5ms, count=1, min=532.5ms, max=532.5ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=456.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:41:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:41:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:41:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:41:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:41:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:41:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:41:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:41:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:41:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025085m	[env.py: 870]
-05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:41:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87961824  0.58046689  0.0250853 ] yaw=-167.8deg	[env.py: 1019]
-05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8293085   0.16446125  0.0250853 ] yaw=165.2deg	[env.py: 1019]
-05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98635253  0.84167429  0.0250853 ] yaw=-162.9deg	[env.py: 1019]
-05/10 10:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:41:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=227.8ms, total=227.9ms	[env.py: 1075]
-05/10 10:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.880, 0.580, 0.025)	[env.py: 1079]
-05/10 10:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg	[env.py: 1082]
-05/10 10:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m	[env.py: 1086]
-05/10 10:41:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:41:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:41:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:41:41 INFO: [Worker 0] Worker 0 house 1 episode 156/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:41:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:41:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:41:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:41:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:41:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.664s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:41:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.397[m] 83.538[deg]	[grasp_sample.py: 539]
-05/10 10:41:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:41:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:41:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:41:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:41:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:41:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:41:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:41:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:42:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:42:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:42:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:42:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:42:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:42:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:12 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.596s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:42:12 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.823[deg]	[grasp_sample.py: 539]
-05/10 10:42:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:42:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:42:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:42:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:42:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:42:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:42:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:42:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:42:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:23 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.751s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:42:23 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.334[deg]	[grasp_sample.py: 539]
-05/10 10:42:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:24 ERROR: [Worker 0] Worker 0 house 1 episode 163 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 10:42:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:42:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:42:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:42:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:42:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:42:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:42:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:42:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:42:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008621m	[env.py: 870]
-05/10 10:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:42:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65158036  0.38013838 -0.00862135] yaw=185.0deg	[env.py: 1019]
-05/10 10:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66283855  0.16520849 -0.00862135] yaw=172.8deg	[env.py: 1019]
-05/10 10:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90907274  0.06923052 -0.00862135] yaw=163.7deg	[env.py: 1019]
-05/10 10:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:42:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=304.9ms, total=305.0ms	[env.py: 1075]
-05/10 10:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.380, -0.009)	[env.py: 1079]
-05/10 10:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.0 deg	[env.py: 1082]
-05/10 10:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
-05/10 10:42:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:42:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:42:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:42:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:42:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:42:27 INFO: [Worker 0] Worker 0 house 1 episode 164/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:42:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:42:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:42:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:42:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:42:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.682s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:42:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.588[m] 78.541[deg]	[grasp_sample.py: 539]
-05/10 10:42:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:42:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:42:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:42:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:42:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:42:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:42:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:42:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:42:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:42:30 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.677s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:42:30 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.772[deg]	[grasp_sample.py: 539]
-05/10 10:42:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:42:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:42:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:42:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:42:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:42:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:42:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:42:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:42:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:42:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:42:55 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.638s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:42:55 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.772[deg]	[grasp_sample.py: 539]
-05/10 10:42:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:42:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:42:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:42:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:43:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:43:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:43:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:43:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:43:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:43:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:43:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:43:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:43:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:43:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:43:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:43:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:43:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:43:11 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 10:43:12 INFO: [Worker 0] Worker 0 house 1 episode 167 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 10:43:12 INFO: [Worker 0] [PROFILE] Episode 167 house 1 success=False episode_total=1.13s:
-  episode_total: mean=100.74s, total=201.49s, count=2, min=7159.7ms, max=194327.0ms
-  sensor_polling: mean=552.1ms, total=124.78s, count=226, min=465.4ms, max=995.9ms
-  physics_step: mean=26.7ms, total=6.03s, count=226, min=14.1ms, max=66.8ms
-  task_sampling: mean=563.5ms, total=1.13s, count=2, min=510.3ms, max=616.8ms
-  task_specific_sample: mean=559.7ms, total=1.12s, count=2, min=507.2ms, max=612.2ms
-  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.2ms, max=3.1ms
-  mj_forward_sync: mean=492.5us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:43:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:43:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:43:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:43:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:43:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:43:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.122s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:43:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:43:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:43:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:43:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:43:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:43:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:43:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:43:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:43:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:43:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:43:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016654m	[env.py: 870]
-05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:43:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.15530215  1.02709316  0.01665376] yaw=-143.4deg	[env.py: 1019]
-05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78593178  0.38577454  0.01665376] yaw=166.9deg	[env.py: 1019]
-05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77951853  0.72123784  0.01665376] yaw=-160.3deg	[env.py: 1019]
-05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:43:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=308.0ms, total=308.0ms	[env.py: 1075]
-05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.155, 1.027, 0.017)	[env.py: 1079]
-05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.4 deg	[env.py: 1082]
-05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.772m	[env.py: 1086]
-05/10 10:43:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:43:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:43:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:43:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:43:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:43:15 INFO: [Worker 0] Worker 0 house 1 episode 168/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:43:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:43:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:43:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:43:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:43:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.275s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:43:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.374[m] 83.674[deg]	[grasp_sample.py: 539]
-05/10 10:43:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:43:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:43:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:43:17 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.789s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:43:17 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.230[deg]	[grasp_sample.py: 539]
-05/10 10:43:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:43:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:43:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:43:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:43:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:43:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:43:47 INFO: [Worker 0] Worker 0 house 1 episode 156 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 10:43:47 INFO: [Worker 0] [PROFILE] Episode 156 house 1 success=False episode_total=0.78s:
-  episode_total: mean=196.09s, total=196.09s, count=1, min=196086.7ms, max=196086.7ms
-  sensor_polling: mean=549.4ms, total=164.83s, count=300, min=454.0ms, max=1091.9ms
-  physics_step: mean=27.3ms, total=8.18s, count=300, min=15.6ms, max=113.6ms
-  task_sampling: mean=777.2ms, total=777.2ms, count=1, min=777.2ms, max=777.2ms
-  task_specific_sample: mean=773.3ms, total=773.3ms, count=1, min=773.3ms, max=773.3ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=453.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:43:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:43:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:43:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:43:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:43:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:43:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:43:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:43:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:43:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:43:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:43:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011902m	[env.py: 870]
-05/10 10:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:43:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77640196  0.34720272  0.01190153] yaw=171.7deg	[env.py: 1019]
-05/10 10:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91359465  0.74387399  0.01190153] yaw=-172.5deg	[env.py: 1019]
-05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88001519  1.13594068  0.01190153] yaw=-139.3deg	[env.py: 1019]
-05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:43:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=483.7ms, total=483.7ms	[env.py: 1075]
-05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.776, 0.347, 0.012)	[env.py: 1079]
-05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.7 deg	[env.py: 1082]
-05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
-05/10 10:43:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:43:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:43:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:43:50 INFO: [Worker 0] Worker 0 house 1 episode 157/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:43:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.150s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:43:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:43:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:43:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:43:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:43:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.853s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:43:51 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.469[m] 82.256[deg]	[grasp_sample.py: 539]
-05/10 10:43:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:43:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:43:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:43:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:43:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:44:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:44:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:44:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:44:50 INFO: [Worker 0] Worker 0 house 1 episode 156 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:44:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:45:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:45:15 INFO: [Worker 0] Saved videos eagerly for episode 120 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:45:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 10:45:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:45:29 INFO: [Worker 0] Worker 0 house 1 episode 164 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:45:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:45:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:45:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.32s (batch: 4.99s, save: 10.33s)	[pipeline.py: 300]
-05/10 10:45:31 INFO: [Worker 0] [PROFILE] Episode 156 house 1 success=True episode_total=0.53s:
-  episode_total: mean=230.84s, total=230.84s, count=1, min=230841.0ms, max=230841.0ms
-  sensor_polling: mean=581.4ms, total=174.43s, count=300, min=478.7ms, max=1139.5ms
-  save_trajectories: mean=10.33s, total=10.33s, count=1, min=10333.8ms, max=10333.8ms
-  physics_step: mean=29.6ms, total=8.87s, count=300, min=19.6ms, max=129.3ms
-  save_batch_prep: mean=4.99s, total=4.99s, count=1, min=4990.5ms, max=4990.5ms
-  task_sampling: mean=534.6ms, total=534.6ms, count=1, min=534.6ms, max=534.6ms
-  task_specific_sample: mean=530.4ms, total=530.4ms, count=1, min=530.4ms, max=530.4ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=522.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:45:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:45:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:45:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:45:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:45:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:45:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:45:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:45:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:45:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:45:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:45:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037775m	[env.py: 870]
-05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:45:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90471561  0.81601574  0.03777493] yaw=-165.3deg	[env.py: 1019]
-05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7171388   0.02775883  0.03777493] yaw=158.0deg	[env.py: 1019]
-05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7401248   0.3467121   0.03777493] yaw=173.9deg	[env.py: 1019]
-05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:45:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.1ms, total=167.1ms	[env.py: 1075]
-05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.905, 0.816, 0.038)	[env.py: 1079]
-05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.3 deg	[env.py: 1082]
-05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
-05/10 10:45:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:45:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:45:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:45:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:45:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:45:34 INFO: [Worker 0] Worker 0 house 1 episode 157/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:45:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:45:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:45:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:45:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:45:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.928s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:45:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.457[m] 90.196[deg]	[grasp_sample.py: 539]
-05/10 10:45:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:45:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:45:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:45:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:45:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:45:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:45:59 INFO: [Worker 0] Saved videos eagerly for episode 120 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:45:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 10:45:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:46:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:46:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:46:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:46:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:46:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:46:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:46:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:46:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:46:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.775s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:46:05 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.287[deg]	[grasp_sample.py: 539]
-05/10 10:46:06 ERROR: [Worker 0] Worker 0 house 1 episode 168 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 10:46:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:46:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:46:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:46:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:46:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:46:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:46:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.010m, effective arm-mount z=0.850m (base_body_z=-0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010001m	[env.py: 870]
-05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:46:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.0968081   0.93466475 -0.01000118] yaw=-147.1deg	[env.py: 1019]
-05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:46:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.0ms, total=219.0ms	[env.py: 1075]
-05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.097, 0.935, -0.010)	[env.py: 1079]
-05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.1 deg	[env.py: 1082]
-05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
-05/10 10:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:46:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:46:08 INFO: [Worker 0] Worker 0 house 1 episode 169/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:46:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:46:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:46:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:46:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:46:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.616s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:46:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.356[m] 90.275[deg]	[grasp_sample.py: 539]
-05/10 10:46:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:46:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:46:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:46:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:46:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:46:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.43s (batch: 4.91s, save: 9.52s)	[pipeline.py: 300]
-05/10 10:46:14 INFO: [Worker 0] [PROFILE] Episode 164 house 1 success=True episode_total=1.14s:
-  episode_total: mean=195.51s, total=391.03s, count=2, min=162995.0ms, max=228030.4ms
-  sensor_polling: mean=553.5ms, total=303.88s, count=549, min=455.8ms, max=1179.2ms
-  physics_step: mean=28.3ms, total=15.55s, count=549, min=17.0ms, max=115.7ms
-  save_trajectories: mean=9.52s, total=9.52s, count=1, min=9520.0ms, max=9520.0ms
-  save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4908.2ms, max=4908.2ms
-  task_sampling: mean=571.5ms, total=1.14s, count=2, min=486.9ms, max=656.2ms
-  task_specific_sample: mean=567.4ms, total=1.13s, count=2, min=482.9ms, max=651.9ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.9ms, max=2.5ms
-  mj_forward_sync: mean=597.0us, total=1.2ms, count=2, min=0.4ms, max=0.8ms
-  policy_setup: mean=19.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:46:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:46:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:46:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:46:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:46:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:46:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:46:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:46:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:46:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:46:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:46:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014141m	[env.py: 870]
-05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:46:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00244044  0.41617458 -0.01414091] yaw=165.4deg	[env.py: 1019]
-05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92021158  0.8763346  -0.01414091] yaw=-145.6deg	[env.py: 1019]
-05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76135564  0.99299037 -0.01414091] yaw=-161.7deg	[env.py: 1019]
-05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:46:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=129.1ms, total=129.2ms	[env.py: 1075]
-05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.002, 0.416, -0.014)	[env.py: 1079]
-05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg	[env.py: 1082]
-05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.703m	[env.py: 1086]
-05/10 10:46:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:46:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:46:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:46:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:46:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:46:17 INFO: [Worker 0] Worker 0 house 1 episode 165/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:46:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.149s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:46:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:46:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:46:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:46:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.197s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:46:18 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.277[m] 92.330[deg]	[grasp_sample.py: 539]
-05/10 10:46:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:46:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:46:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:46:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:46:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:46:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:46:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:46:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:47:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:47:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:47:06 INFO: [Worker 0] Worker 0 house 1 episode 157 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:47:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:47:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:47:37 INFO: [Worker 0] Saved videos eagerly for episode 115 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:47:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 10:47:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:47:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:47:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:47:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:47:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:47:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:47:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:47:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:47:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.75s (batch: 4.65s, save: 9.11s)	[pipeline.py: 300]
-05/10 10:47:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:47:52 INFO: [Worker 0] [PROFILE] Episode 157 house 1 success=True episode_total=0.82s:
-  episode_total: mean=242.74s, total=242.74s, count=1, min=242744.8ms, max=242744.8ms
-  sensor_polling: mean=563.1ms, total=168.94s, count=300, min=473.9ms, max=1218.3ms
-  save_trajectories: mean=9.11s, total=9.11s, count=1, min=9105.8ms, max=9105.8ms
-  physics_step: mean=27.0ms, total=8.09s, count=300, min=19.0ms, max=94.1ms
-  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4646.7ms, max=4646.7ms
-  task_sampling: mean=816.6ms, total=816.6ms, count=1, min=816.6ms, max=816.6ms
-  task_specific_sample: mean=812.6ms, total=812.6ms, count=1, min=812.6ms, max=812.6ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=551.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:47:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:47:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:47:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:47:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:47:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:47:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:47:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:47:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013870m	[env.py: 870]
-05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:47:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71842939  0.40115434 -0.0138702 ] yaw=174.1deg	[env.py: 1019]
-05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74315444  0.71066261 -0.0138702 ] yaw=-161.4deg	[env.py: 1019]
-05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.63499997  0.60678885 -0.0138702 ] yaw=-175.0deg	[env.py: 1019]
-05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:47:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.3ms, total=201.3ms	[env.py: 1075]
-05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.718, 0.401, -0.014)	[env.py: 1079]
-05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.1 deg	[env.py: 1082]
-05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
-05/10 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:47:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:47:54 INFO: [Worker 0] Worker 0 house 1 episode 158/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:47:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:47:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:47:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:47:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:47:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.578s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:47:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.568[m] 97.727[deg]	[grasp_sample.py: 539]
-05/10 10:47:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:47:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:47:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:47:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:47:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:47:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:47:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:47:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:47:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:47:56 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.511s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:47:56 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.209[deg]	[grasp_sample.py: 539]
-05/10 10:47:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:47:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:47:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:48:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:48:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:48:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:48:38 INFO: [Worker 0] Worker 0 house 1 episode 157 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:49:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:49:04 INFO: [Worker 0] Saved videos eagerly for episode 121 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:49:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 10:49:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:49:06 INFO: [Worker 0] Worker 0 house 1 episode 169 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:49:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:49:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:49:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:49:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:49:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 20.00s (batch: 5.52s, save: 14.48s)	[pipeline.py: 300]
-05/10 10:49:25 INFO: [Worker 0] [PROFILE] Episode 157 house 1 success=True episode_total=0.49s:
-  episode_total: mean=231.47s, total=231.47s, count=1, min=231467.4ms, max=231467.4ms
-  sensor_polling: mean=568.0ms, total=170.41s, count=300, min=473.3ms, max=1240.3ms
-  save_trajectories: mean=14.48s, total=14.48s, count=1, min=14475.7ms, max=14475.7ms
-  physics_step: mean=27.7ms, total=8.31s, count=300, min=15.7ms, max=141.5ms
-  save_batch_prep: mean=5.52s, total=5.52s, count=1, min=5524.6ms, max=5524.6ms
-  task_sampling: mean=489.8ms, total=489.8ms, count=1, min=489.8ms, max=489.8ms
-  task_specific_sample: mean=485.5ms, total=485.5ms, count=1, min=485.5ms, max=485.5ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=543.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:49:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:49:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:49:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:49:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:49:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:49:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:49:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:49:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:49:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044961m	[env.py: 870]
-05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:49:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75567064  0.28948485  0.04496123] yaw=163.5deg	[env.py: 1019]
-05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84351541  0.86430872  0.04496123] yaw=-150.7deg	[env.py: 1019]
-05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:49:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.7ms, total=187.8ms	[env.py: 1075]
-05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.756, 0.289, 0.045)	[env.py: 1079]
-05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.5 deg	[env.py: 1082]
-05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
-05/10 10:49:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:49:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:49:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:49:27 INFO: [Worker 0] Worker 0 house 1 episode 158/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:49:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:49:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:49:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:49:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:49:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.784s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:49:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.565[m] 101.712[deg]	[grasp_sample.py: 539]
-05/10 10:49:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:49:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:49:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:49:39 INFO: [Worker 0] Saved videos eagerly for episode 110 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:49:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 10:49:39 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/10 10:49:54 INFO: [Worker 0] Worker 0 house 1 episode 165 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:49:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:49:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:49:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.65s (batch: 5.44s, save: 10.21s)	[pipeline.py: 300]
-05/10 10:49:56 INFO: [Worker 0] [PROFILE] Episode 169 house 1 success=True episode_total=1.15s:
-  episode_total: mean=200.00s, total=400.00s, count=2, min=172008.9ms, max=227996.0ms
-  sensor_polling: mean=549.6ms, total=305.55s, count=556, min=463.0ms, max=1129.6ms
-  physics_step: mean=27.8ms, total=15.47s, count=556, min=18.5ms, max=100.7ms
-  save_trajectories: mean=10.21s, total=10.21s, count=1, min=10209.6ms, max=10209.6ms
-  save_batch_prep: mean=5.44s, total=5.44s, count=1, min=5438.5ms, max=5438.5ms
-  task_sampling: mean=573.7ms, total=1.15s, count=2, min=541.7ms, max=605.6ms
-  task_specific_sample: mean=569.8ms, total=1.14s, count=2, min=537.1ms, max=602.5ms
-  scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=538.7us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=18.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:49:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:49:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:49:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:49:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:49:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:49:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:49:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:49:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:49:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006315m	[env.py: 870]
-05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:49:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63732656  0.22810575  0.00631524] yaw=172.8deg	[env.py: 1019]
-05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81876006  0.01748217  0.00631524] yaw=149.2deg	[env.py: 1019]
-05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.61964081  0.40207889  0.00631524] yaw=165.4deg	[env.py: 1019]
-05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:49:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.1ms, total=231.2ms	[env.py: 1075]
-05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.637, 0.228, 0.006)	[env.py: 1079]
-05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.8 deg	[env.py: 1082]
-05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m	[env.py: 1086]
-05/10 10:49:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:49:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:49:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:49:58 INFO: [Worker 0] Worker 0 house 1 episode 170/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:49:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:49:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:49:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:49:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:49:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.078s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:49:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.628[m] 88.655[deg]	[grasp_sample.py: 539]
-05/10 10:49:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:50:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:50:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:50:26 INFO: [Worker 0] Saved videos eagerly for episode 121 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:50:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 10:50:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:50:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:50:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:50:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:50:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.10s (batch: 4.81s, save: 9.29s)	[pipeline.py: 300]
-05/10 10:50:41 INFO: [Worker 0] [PROFILE] Episode 165 house 1 success=True episode_total=0.45s:
-  episode_total: mean=265.21s, total=265.21s, count=1, min=265205.2ms, max=265205.2ms
-  sensor_polling: mean=586.6ms, total=175.97s, count=300, min=479.0ms, max=1037.7ms
-  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9289.9ms, max=9289.9ms
-  physics_step: mean=28.9ms, total=8.67s, count=300, min=18.9ms, max=88.6ms
-  save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4813.6ms, max=4813.6ms
-  task_sampling: mean=448.0ms, total=448.0ms, count=1, min=448.0ms, max=448.0ms
-  task_specific_sample: mean=443.9ms, total=443.9ms, count=1, min=443.9ms, max=443.9ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=543.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:50:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:50:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:50:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:50:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:50:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:50:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:50:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:50:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:50:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:50:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:50:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049338m	[env.py: 870]
-05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:50:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7344545   0.98707694  0.04933823] yaw=-162.6deg	[env.py: 1019]
-05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68677433  0.10007333  0.04933823] yaw=156.5deg	[env.py: 1019]
-05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94649244  0.5949604   0.04933823] yaw=-178.5deg	[env.py: 1019]
-05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:50:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.9ms, total=155.9ms	[env.py: 1075]
-05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.734, 0.987, 0.049)	[env.py: 1079]
-05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.6 deg	[env.py: 1082]
-05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
-05/10 10:50:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:50:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:50:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:50:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:50:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:50:44 INFO: [Worker 0] Worker 0 house 1 episode 166/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:50:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:50:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:50:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:50:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:50:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.720s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:50:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.636[m] 84.209[deg]	[grasp_sample.py: 539]
-05/10 10:50:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:50:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:50:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:50:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:50:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:51:00 INFO: [Worker 0] Worker 0 house 1 episode 158 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:51:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:51:24 INFO: [Worker 0] Saved videos eagerly for episode 116 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:51:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 10:51:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:51:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:51:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:51:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:51:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:51:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.28s (batch: 4.64s, save: 8.64s)	[pipeline.py: 300]
-05/10 10:51:38 INFO: [Worker 0] [PROFILE] Episode 158 house 1 success=True episode_total=0.53s:
-  episode_total: mean=223.96s, total=223.96s, count=1, min=223957.5ms, max=223957.5ms
-  sensor_polling: mean=571.1ms, total=171.32s, count=300, min=463.6ms, max=1156.2ms
-  physics_step: mean=29.8ms, total=8.95s, count=300, min=15.9ms, max=98.9ms
-  save_trajectories: mean=8.64s, total=8.64s, count=1, min=8635.3ms, max=8635.3ms
-  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4641.7ms, max=4641.7ms
-  task_sampling: mean=534.1ms, total=534.1ms, count=1, min=534.1ms, max=534.1ms
-  task_specific_sample: mean=530.2ms, total=530.2ms, count=1, min=530.2ms, max=530.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=512.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:51:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:51:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:51:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:51:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:51:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:51:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:51:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:51:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:51:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:51:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:51:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021955m	[env.py: 870]
-05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:51:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:51:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=182.7ms, total=182.8ms	[env.py: 1105]
-05/10 10:51:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 10:51:40 ERROR: [Worker 0] Worker 0 house 1 episode 159 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 10:51:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:51:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:51:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:51:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:51:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:51:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:51:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:51:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:51:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.037342m	[env.py: 870]
-05/10 10:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:51:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97157739  0.27445764 -0.03734181] yaw=152.7deg	[env.py: 1019]
-05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7785973   0.87495945 -0.03734181] yaw=-163.4deg	[env.py: 1019]
-05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:51:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=257.5ms, total=257.5ms	[env.py: 1075]
-05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.274, -0.037)	[env.py: 1079]
-05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.7 deg	[env.py: 1082]
-05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m	[env.py: 1086]
-05/10 10:51:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:51:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:51:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:51:42 INFO: [Worker 0] Worker 0 house 1 episode 160/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:51:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:51:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:51:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:51:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:51:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.533s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:51:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.310[m] 86.817[deg]	[grasp_sample.py: 539]
-05/10 10:51:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:51:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:51:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:51:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:52:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:52:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:52:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:52:26 INFO: [Worker 0] Worker 0 house 1 episode 158 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:52:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:52:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:52:56 INFO: [Worker 0] Saved videos eagerly for episode 122 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:52:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 10:52:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:53:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:53:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:53:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 18.53s (batch: 5.37s, save: 13.16s)	[pipeline.py: 300]
-05/10 10:53:16 INFO: [Worker 0] [PROFILE] Episode 158 house 1 success=True episode_total=0.53s:
-  episode_total: mean=229.29s, total=229.29s, count=1, min=229287.1ms, max=229287.1ms
-  sensor_polling: mean=547.8ms, total=164.34s, count=300, min=463.4ms, max=1255.9ms
-  save_trajectories: mean=13.16s, total=13.16s, count=1, min=13159.1ms, max=13159.1ms
-  physics_step: mean=28.7ms, total=8.62s, count=300, min=18.9ms, max=112.1ms
-  save_batch_prep: mean=5.37s, total=5.37s, count=1, min=5368.0ms, max=5368.0ms
-  task_sampling: mean=531.1ms, total=531.1ms, count=1, min=531.1ms, max=531.1ms
-  task_specific_sample: mean=527.1ms, total=527.1ms, count=1, min=527.1ms, max=527.1ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=447.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:53:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:53:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:53:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:53:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:53:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:53:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:53:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:53:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:53:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014421m	[env.py: 870]
-05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:53:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94309164  1.14629726  0.01442096] yaw=-144.4deg	[env.py: 1019]
-05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90674612  0.38683721  0.01442096] yaw=169.4deg	[env.py: 1019]
-05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.04178803  0.7306166   0.01442096] yaw=-151.2deg	[env.py: 1019]
-05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:53:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=316.4ms, total=316.5ms	[env.py: 1075]
-05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 1.146, 0.014)	[env.py: 1079]
-05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.4 deg	[env.py: 1082]
-05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m	[env.py: 1086]
-05/10 10:53:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:53:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:53:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:53:19 INFO: [Worker 0] Worker 0 house 1 episode 159/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:53:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.192s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:53:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:53:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:53:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.128s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:53:23 INFO: [Worker 0] Worker 0 house 1 episode 170 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:53:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.164s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:53:24 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.597[m] 87.724[deg]	[grasp_sample.py: 539]
-05/10 10:53:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:53:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:53:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:53:43 INFO: [Worker 0] Worker 0 house 1 episode 166 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:53:54 INFO: [Worker 0] Saved videos eagerly for episode 111 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:53:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 10:53:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:54:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:54:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:54:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.25s (batch: 5.08s, save: 11.18s)	[pipeline.py: 300]
-05/10 10:54:11 INFO: [Worker 0] [PROFILE] Episode 170 house 1 success=True episode_total=0.54s:
-  episode_total: mean=252.90s, total=252.90s, count=1, min=252897.6ms, max=252897.6ms
-  sensor_polling: mean=556.4ms, total=166.92s, count=300, min=466.1ms, max=1158.3ms
-  save_trajectories: mean=11.18s, total=11.18s, count=1, min=11177.1ms, max=11177.1ms
-  physics_step: mean=27.5ms, total=8.25s, count=300, min=19.1ms, max=90.3ms
-  save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5076.7ms, max=5076.7ms
-  task_sampling: mean=540.8ms, total=540.8ms, count=1, min=540.8ms, max=540.8ms
-  task_specific_sample: mean=535.9ms, total=535.9ms, count=1, min=535.9ms, max=535.9ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=653.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:54:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:54:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:54:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:54:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:54:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:54:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:54:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:54:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:54:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005093m	[env.py: 870]
-05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:54:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90439853  0.06908466  0.0050929 ] yaw=162.5deg	[env.py: 1019]
-05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.71920607  0.01318966  0.0050929 ] yaw=144.3deg	[env.py: 1019]
-05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:54:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=242.7ms, total=242.8ms	[env.py: 1075]
-05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.904, 0.069, 0.005)	[env.py: 1079]
-05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.5 deg	[env.py: 1082]
-05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m	[env.py: 1086]
-05/10 10:54:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:54:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:54:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:54:13 INFO: [Worker 0] Worker 0 house 1 episode 171/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:54:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:54:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:54:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:54:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:54:14 INFO: [Worker 0] Saved videos eagerly for episode 122 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:54:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 10:54:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:54:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.688s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:54:15 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.450[m] 78.806[deg]	[grasp_sample.py: 539]
-05/10 10:54:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:54:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:54:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:54:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:54:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:54:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.07s (batch: 4.98s, save: 9.09s)	[pipeline.py: 300]
-05/10 10:54:29 INFO: [Worker 0] [PROFILE] Episode 166 house 1 success=True episode_total=0.51s:
-  episode_total: mean=225.65s, total=225.65s, count=1, min=225645.9ms, max=225645.9ms
-  sensor_polling: mean=551.9ms, total=165.56s, count=300, min=446.3ms, max=1148.1ms
-  save_trajectories: mean=9.09s, total=9.09s, count=1, min=9091.0ms, max=9091.0ms
-  physics_step: mean=27.4ms, total=8.22s, count=300, min=19.3ms, max=148.5ms
-  save_batch_prep: mean=4.98s, total=4.98s, count=1, min=4975.7ms, max=4975.7ms
-  task_sampling: mean=510.7ms, total=510.7ms, count=1, min=510.7ms, max=510.7ms
-  task_specific_sample: mean=507.0ms, total=507.0ms, count=1, min=507.0ms, max=507.0ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=447.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:54:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:54:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:54:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:54:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:54:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:54:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:54:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:54:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:54:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027314m	[env.py: 870]
-05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:54:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01498185  0.7317471   0.02731386] yaw=-157.9deg	[env.py: 1019]
-05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79368528  0.42498473  0.02731386] yaw=180.3deg	[env.py: 1019]
-05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00073339  0.36901708  0.02731386] yaw=163.3deg	[env.py: 1019]
-05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:54:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=245.7ms, total=245.8ms	[env.py: 1075]
-05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.015, 0.732, 0.027)	[env.py: 1079]
-05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.9 deg	[env.py: 1082]
-05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.731m	[env.py: 1086]
-05/10 10:54:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:54:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:54:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:54:31 INFO: [Worker 0] Worker 0 house 1 episode 167/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:54:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:54:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:54:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:54:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:54:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.916s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:54:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.299[m] 87.296[deg]	[grasp_sample.py: 539]
-05/10 10:54:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:54:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:54:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:54:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:54:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:54:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:55:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:55:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:55:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:55:17 INFO: [Worker 0] Worker 0 house 1 episode 160 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:55:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:55:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:55:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:55:44 INFO: [Worker 0] Saved videos eagerly for episode 117 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:55:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 10:55:44 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
-05/10 10:55:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:55:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:55:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:55:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:55:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:55:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:55:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:55:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.93s (batch: 4.44s, save: 10.48s)	[pipeline.py: 300]
-05/10 10:56:00 INFO: [Worker 0] [PROFILE] Episode 160 house 1 success=True episode_total=0.62s:
-  episode_total: mean=129.45s, total=258.90s, count=2, min=194.4ms, max=258703.3ms
-  sensor_polling: mean=569.8ms, total=160.70s, count=282, min=476.0ms, max=1035.6ms
-  save_trajectories: mean=10.48s, total=10.48s, count=1, min=10481.5ms, max=10481.5ms
-  physics_step: mean=29.5ms, total=8.31s, count=282, min=16.1ms, max=102.3ms
-  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4444.8ms, max=4444.8ms
-  task_specific_sample: mean=403.0ms, total=806.1ms, count=2, min=188.6ms, max=617.5ms
-  task_sampling: mean=620.7ms, total=620.7ms, count=1, min=620.7ms, max=620.7ms
-  task_sampling_failed: mean=194.4ms, total=194.4ms, count=1, min=194.4ms, max=194.4ms
-  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.3ms, max=2.6ms
-  mj_forward_sync: mean=454.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:56:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:56:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:56:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:56:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:56:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:56:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:56:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:56:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:56:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:56:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022930m	[env.py: 870]
-05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:56:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00238154  0.19051658  0.02293008] yaw=157.3deg	[env.py: 1019]
-05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.12639016  1.04825258  0.02293008] yaw=-138.0deg	[env.py: 1019]
-05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:56:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.6ms, total=188.6ms	[env.py: 1075]
-05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.002, 0.191, 0.023)	[env.py: 1079]
-05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.3 deg	[env.py: 1082]
-05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m	[env.py: 1086]
-05/10 10:56:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:56:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:56:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:56:02 INFO: [Worker 0] Worker 0 house 1 episode 161/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:56:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:56:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:56:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:56:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:56:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:56:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:56:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.349[m] 99.705[deg]	[grasp_sample.py: 539]
-05/10 10:56:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:56:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:56:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:56:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:56:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:56:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:56:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:56:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:56:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 64 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:56:07 INFO: [Worker 0] Feasibility-checked 64 grasps in 2.326s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 10:56:07 ERROR: [Worker 0] Worker 0 house 1 episode 159 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 10:56:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:56:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:56:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:56:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:56:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:56:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:56:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:56:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:56:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048196m	[env.py: 870]
-05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:56:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94509292  1.14240304 -0.04819622] yaw=-139.8deg	[env.py: 1019]
-05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68832249  0.14108759 -0.04819622] yaw=162.8deg	[env.py: 1019]
-05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96383133  1.21329349 -0.04819622] yaw=-127.4deg	[env.py: 1019]
-05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:56:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=324.3ms, total=324.4ms	[env.py: 1075]
-05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.945, 1.142, -0.048)	[env.py: 1079]
-05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.8 deg	[env.py: 1082]
-05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
-05/10 10:56:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:56:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:56:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:56:10 INFO: [Worker 0] Worker 0 house 1 episode 160/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:56:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:56:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:56:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:56:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:56:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.982s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:56:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.558[m] 78.958[deg]	[grasp_sample.py: 539]
-05/10 10:56:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:56:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:56:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:56:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:56:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:57:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:57:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:57:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:57:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:57:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:57:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:57:21 INFO: [Worker 0] Worker 0 house 1 episode 167 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:57:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:57:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:57:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:57:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:57:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:57:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:57:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:57:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:57:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:57:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:57:28 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.953s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:57:28 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.449[deg]	[grasp_sample.py: 539]
-05/10 10:57:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:57:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:57:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:57:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:57:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:57:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:57:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:57:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:57:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:57:47 INFO: [Worker 0] Saved videos eagerly for episode 123 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:57:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 10:57:47 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
-05/10 10:57:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:57:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:57:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:57:50 INFO: [Worker 0] Worker 0 house 1 episode 171 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:58:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:58:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:58:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.88s (batch: 4.30s, save: 8.59s)	[pipeline.py: 300]
-05/10 10:58:01 INFO: [Worker 0] [PROFILE] Episode 167 house 1 success=True episode_total=0.69s:
-  episode_total: mean=209.76s, total=209.76s, count=1, min=209762.8ms, max=209762.8ms
-  sensor_polling: mean=555.6ms, total=156.14s, count=281, min=475.2ms, max=913.4ms
-  save_trajectories: mean=8.59s, total=8.59s, count=1, min=8586.8ms, max=8586.8ms
-  physics_step: mean=27.9ms, total=7.85s, count=281, min=19.7ms, max=110.7ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4298.0ms, max=4298.0ms
-  task_sampling: mean=693.7ms, total=693.7ms, count=1, min=693.7ms, max=693.7ms
-  task_specific_sample: mean=688.9ms, total=688.9ms, count=1, min=688.9ms, max=688.9ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=540.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:58:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:58:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:58:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:58:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:58:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:58:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:58:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:58:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:58:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029068m	[env.py: 870]
-05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:58:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1822688   1.06552105  0.02906794] yaw=-138.7deg	[env.py: 1019]
-05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86514391  0.90941326  0.02906794] yaw=-151.0deg	[env.py: 1019]
-05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81892526  0.9986684   0.02906794] yaw=-148.2deg	[env.py: 1019]
-05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:58:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.1ms, total=115.1ms	[env.py: 1075]
-05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.182, 1.066, 0.029)	[env.py: 1079]
-05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.7 deg	[env.py: 1082]
-05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m	[env.py: 1086]
-05/10 10:58:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:58:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:58:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:58:03 INFO: [Worker 0] Worker 0 house 1 episode 168/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:58:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:58:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:58:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:58:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:58:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.619s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:58:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.401[m] 101.287[deg]	[grasp_sample.py: 539]
-05/10 10:58:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:58:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:58:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:58:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:58:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:58:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:58:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:58:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 84 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:58:15 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.481s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:58:15 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.025[m] 1.189[deg]	[grasp_sample.py: 539]
-05/10 10:58:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:58:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:58:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:58:16 INFO: [Worker 0] Saved videos eagerly for episode 112 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:58:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 10:58:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:58:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:58:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 10:58:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 10:58:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.85s (batch: 4.66s, save: 9.19s)	[pipeline.py: 300]
-05/10 10:58:31 INFO: [Worker 0] [PROFILE] Episode 171 house 1 success=True episode_total=0.65s:
-  episode_total: mean=258.32s, total=258.32s, count=1, min=258317.0ms, max=258317.0ms
-  sensor_polling: mean=562.0ms, total=168.59s, count=300, min=468.1ms, max=956.8ms
-  save_trajectories: mean=9.19s, total=9.19s, count=1, min=9193.9ms, max=9193.9ms
-  physics_step: mean=28.0ms, total=8.41s, count=300, min=19.4ms, max=88.1ms
-  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4660.8ms, max=4660.8ms
-  task_sampling: mean=653.7ms, total=653.7ms, count=1, min=653.7ms, max=653.7ms
-  task_specific_sample: mean=647.9ms, total=647.9ms, count=1, min=647.9ms, max=647.9ms
-  scene_randomize: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
-  mj_forward_sync: mean=915.2us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
-  policy_setup: mean=23.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 10:58:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:58:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:58:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:58:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:58:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:58:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:58:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:58:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:58:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:58:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006496m	[env.py: 870]
-05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:58:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81905059  0.66442717  0.00649643] yaw=-167.3deg	[env.py: 1019]
-05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74830936  0.25711684  0.00649643] yaw=164.3deg	[env.py: 1019]
-05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74509314 -0.03791984  0.00649643] yaw=140.7deg	[env.py: 1019]
-05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:58:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=89.9ms, total=89.9ms	[env.py: 1075]
-05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.819, 0.664, 0.006)	[env.py: 1079]
-05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.3 deg	[env.py: 1082]
-05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
-05/10 10:58:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:58:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:58:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:58:33 INFO: [Worker 0] Worker 0 house 1 episode 172/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:58:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:58:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:58:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:58:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:58:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.678s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:58:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.524[m] 98.492[deg]	[grasp_sample.py: 539]
-05/10 10:58:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:58:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:58:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:58:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:58:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:58:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:58:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:58:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:58:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:58:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:58:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.888s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:58:55 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.324[deg]	[grasp_sample.py: 539]
-05/10 10:58:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:58:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:58:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:58:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:58:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:59:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:59:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 10:59:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 10:59:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 10:59:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:59:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:59:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:59:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:59:06 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.685s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:59:06 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.877[deg]	[grasp_sample.py: 539]
-05/10 10:59:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:59:09 ERROR: [Worker 0] Worker 0 house 1 episode 161 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 10:59:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 10:59:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 10:59:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 10:59:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:59:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:59:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:59:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:59:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 10:59:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 10:59:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 10:59:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 10:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 10:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 10:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008259m	[env.py: 870]
-05/10 10:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 10:59:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 10:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 10:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00817672  0.6197135  -0.00825909] yaw=-168.6deg	[env.py: 1019]
-05/10 10:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 10:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.19020943  1.01340844 -0.00825909] yaw=-144.2deg	[env.py: 1019]
-05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76813218 -0.02045564 -0.00825909] yaw=142.4deg	[env.py: 1019]
-05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 10:59:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=508.1ms, total=508.1ms	[env.py: 1075]
-05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.008, 0.620, -0.008)	[env.py: 1079]
-05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.6 deg	[env.py: 1082]
-05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.708m	[env.py: 1086]
-05/10 10:59:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 10:59:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 10:59:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 10:59:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 10:59:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 10:59:13 INFO: [Worker 0] Worker 0 house 1 episode 162/240 collected=0/40	[pipeline.py: 1044]
-05/10 10:59:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 10:59:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 10:59:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 10:59:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 10:59:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.220s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 10:59:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.293[m] 96.766[deg]	[grasp_sample.py: 539]
-05/10 10:59:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 10:59:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 10:59:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:59:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:59:24 INFO: [Worker 0] Worker 0 house 1 episode 160 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 10:59:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:59:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 10:59:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 10:59:53 INFO: [Worker 0] Saved videos eagerly for episode 123 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 10:59:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 10:59:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 10:59:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:00:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:00:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:00:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:00:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:00:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.80s (batch: 5.45s, save: 10.35s)	[pipeline.py: 300]
-05/10 11:00:10 INFO: [Worker 0] [PROFILE] Episode 160 house 1 success=True episode_total=1.30s:
-  episode_total: mean=204.74s, total=409.49s, count=2, min=168884.7ms, max=240604.0ms
-  sensor_polling: mean=552.4ms, total=303.84s, count=550, min=454.6ms, max=1127.6ms
-  physics_step: mean=27.5ms, total=15.12s, count=550, min=19.0ms, max=108.4ms
-  save_trajectories: mean=10.35s, total=10.35s, count=1, min=10352.5ms, max=10352.5ms
-  save_batch_prep: mean=5.45s, total=5.45s, count=1, min=5448.7ms, max=5448.7ms
-  task_sampling: mean=650.6ms, total=1.30s, count=2, min=622.7ms, max=678.4ms
-  task_specific_sample: mean=646.4ms, total=1.29s, count=2, min=618.3ms, max=674.5ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.6ms, max=2.8ms
-  mj_forward_sync: mean=572.4us, total=1.1ms, count=2, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:00:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:00:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:00:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:00:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:00:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:00:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:00:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:00:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:00:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031305m	[env.py: 870]
-05/10 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:00:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79464888  0.32510445 -0.03130454] yaw=164.9deg	[env.py: 1019]
-05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76047267  0.74364378 -0.03130454] yaw=-156.1deg	[env.py: 1019]
-05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.74273448  0.64189856 -0.03130454] yaw=-171.3deg	[env.py: 1019]
-05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:00:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=412.8ms, total=412.8ms	[env.py: 1075]
-05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.795, 0.325, -0.031)	[env.py: 1079]
-05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.9 deg	[env.py: 1082]
-05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
-05/10 11:00:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:00:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:00:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:00:12 INFO: [Worker 0] Worker 0 house 1 episode 161/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:00:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:00:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:00:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:00:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:00:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.417s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:00:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.544[m] 102.850[deg]	[grasp_sample.py: 539]
-05/10 11:00:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:00:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:00:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:00:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:00:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:00:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:00:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:00:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:00:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:00:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:00:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:00:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:00:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:00:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:00:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:00:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:00:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.970s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:00:55 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.242[deg]	[grasp_sample.py: 539]
-05/10 11:00:56 ERROR: [Worker 0] Worker 0 house 1 episode 168 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 11:00:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:00:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:00:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:00:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:00:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:00:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:00:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:00:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:00:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012298m	[env.py: 870]
-05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:00:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96993433  0.22902767 -0.01229816] yaw=154.8deg	[env.py: 1019]
-05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:00:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=187.4ms, total=187.4ms	[env.py: 1075]
-05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.970, 0.229, -0.012)	[env.py: 1079]
-05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.8 deg	[env.py: 1082]
-05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.775m	[env.py: 1086]
-05/10 11:00:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:00:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:00:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:00:58 INFO: [Worker 0] Worker 0 house 1 episode 169/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:00:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:00:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:00:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:00:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:01:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.112s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:01:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.294[m] 84.748[deg]	[grasp_sample.py: 539]
-05/10 11:01:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:01:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:01:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:01:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:01:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:01:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:01:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:01:39 INFO: [Worker 0] Worker 0 house 1 episode 172 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:01:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:01:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:02:05 INFO: [Worker 0] Saved videos eagerly for episode 113 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:02:05 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 11:02:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:02:09 INFO: [Worker 0] Worker 0 house 1 episode 162 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:02:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:02:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:02:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.33s (batch: 4.68s, save: 8.66s)	[pipeline.py: 300]
-05/10 11:02:19 INFO: [Worker 0] [PROFILE] Episode 172 house 1 success=True episode_total=0.39s:
-  episode_total: mean=226.38s, total=226.38s, count=1, min=226380.1ms, max=226380.1ms
-  sensor_polling: mean=570.8ms, total=171.23s, count=300, min=466.6ms, max=1004.1ms
-  save_trajectories: mean=8.66s, total=8.66s, count=1, min=8656.4ms, max=8656.4ms
-  physics_step: mean=28.2ms, total=8.46s, count=300, min=18.8ms, max=122.2ms
-  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4678.1ms, max=4678.1ms
-  task_sampling: mean=393.1ms, total=393.1ms, count=1, min=393.1ms, max=393.1ms
-  task_specific_sample: mean=389.1ms, total=389.1ms, count=1, min=389.1ms, max=389.1ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=433.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:02:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:02:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:02:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:02:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:02:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:02:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:02:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:02:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:02:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021795m	[env.py: 870]
-05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:02:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78277953  0.75957733 -0.02179542] yaw=-171.6deg	[env.py: 1019]
-05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:02:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=283.3ms, total=283.4ms	[env.py: 1075]
-05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.783, 0.760, -0.022)	[env.py: 1079]
-05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.6 deg	[env.py: 1082]
-05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
-05/10 11:02:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:02:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:02:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:02:21 INFO: [Worker 0] Worker 0 house 1 episode 173/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:02:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:02:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:02:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:02:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:02:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.559s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:02:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.488[m] 82.208[deg]	[grasp_sample.py: 539]
-05/10 11:02:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:02:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:02:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:02:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:02:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:02:34 INFO: [Worker 0] Saved videos eagerly for episode 118 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:02:34 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 11:02:34 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
-05/10 11:02:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:02:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:02:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.00s (batch: 4.61s, save: 8.38s)	[pipeline.py: 300]
-05/10 11:02:48 INFO: [Worker 0] [PROFILE] Episode 162 house 1 success=True episode_total=1.34s:
-  episode_total: mean=201.44s, total=402.88s, count=2, min=187509.2ms, max=215373.1ms
-  sensor_polling: mean=565.2ms, total=292.23s, count=517, min=466.0ms, max=1157.7ms
-  physics_step: mean=27.4ms, total=14.19s, count=517, min=16.2ms, max=101.5ms
-  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8384.9ms, max=8384.9ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4613.5ms, max=4613.5ms
-  task_sampling: mean=670.7ms, total=1.34s, count=2, min=529.8ms, max=811.7ms
-  task_specific_sample: mean=666.9ms, total=1.33s, count=2, min=525.8ms, max=808.0ms
-  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.7ms, max=2.6ms
-  mj_forward_sync: mean=537.2us, total=1.1ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:02:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:02:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:02:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:02:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:02:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:02:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:02:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:02:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:02:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024961m	[env.py: 870]
-05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:02:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13964813  1.07093173 -0.02496124] yaw=-130.9deg	[env.py: 1019]
-05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69937161  0.38176038 -0.02496124] yaw=169.9deg	[env.py: 1019]
-05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04083973  0.92803326 -0.02496124] yaw=-144.3deg	[env.py: 1019]
-05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:02:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.2ms, total=123.2ms	[env.py: 1075]
-05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.140, 1.071, -0.025)	[env.py: 1079]
-05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.9 deg	[env.py: 1082]
-05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
-05/10 11:02:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:02:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:02:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:02:50 INFO: [Worker 0] Worker 0 house 1 episode 163/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:02:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:02:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:02:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:02:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:02:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.799s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:02:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.419[m] 91.574[deg]	[grasp_sample.py: 539]
-05/10 11:02:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:02:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:02:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:03:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:03:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:03:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:03:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:03:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:03:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:03:13 INFO: [Worker 0] Worker 0 house 1 episode 161 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:03:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:03:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:03:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:03:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:03:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:03:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:03:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:03:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.173s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:03:17 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.696s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:03:17 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.852[deg]	[grasp_sample.py: 539]
-05/10 11:03:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:03:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:03:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:03:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:03:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:03:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:03:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:03:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:03:42 INFO: [Worker 0] Saved videos eagerly for episode 124 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:03:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 11:03:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:03:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:03:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:03:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:03:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:03:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:03:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.82s (batch: 4.59s, save: 10.23s)	[pipeline.py: 300]
-05/10 11:03:58 INFO: [Worker 0] [PROFILE] Episode 161 house 1 success=True episode_total=0.79s:
-  episode_total: mean=226.70s, total=226.70s, count=1, min=226700.3ms, max=226700.3ms
-  sensor_polling: mean=545.4ms, total=163.63s, count=300, min=455.1ms, max=1256.9ms
-  save_trajectories: mean=10.23s, total=10.23s, count=1, min=10226.0ms, max=10226.0ms
-  physics_step: mean=26.9ms, total=8.06s, count=300, min=19.4ms, max=118.3ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4593.9ms, max=4593.9ms
-  task_sampling: mean=787.9ms, total=787.9ms, count=1, min=787.9ms, max=787.9ms
-  task_specific_sample: mean=783.4ms, total=783.4ms, count=1, min=783.4ms, max=783.4ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=534.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:04:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:04:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:04:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:04:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:04:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:04:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:04:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045134m	[env.py: 870]
-05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:04:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.67185184  0.13884054 -0.04513388] yaw=170.7deg	[env.py: 1019]
-05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.69788866  0.33115184 -0.04513388] yaw=176.0deg	[env.py: 1019]
-05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:04:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.8ms, total=188.9ms	[env.py: 1075]
-05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.139, -0.045)	[env.py: 1079]
-05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.7 deg	[env.py: 1082]
-05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
-05/10 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:04:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:04:01 INFO: [Worker 0] Worker 0 house 1 episode 162/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:04:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:04:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:04:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:04:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:04:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.443s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:04:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.674[m] 95.886[deg]	[grasp_sample.py: 539]
-05/10 11:04:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:04:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:04:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:04:32 INFO: [Worker 0] Worker 0 house 1 episode 169 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:05:02 INFO: [Worker 0] Saved videos eagerly for episode 124 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:05:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 11:05:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:05:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:05:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:05:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.64s (batch: 5.54s, save: 10.10s)	[pipeline.py: 300]
-05/10 11:05:18 INFO: [Worker 0] [PROFILE] Episode 169 house 1 success=True episode_total=0.95s:
-  episode_total: mean=216.91s, total=433.83s, count=2, min=173690.6ms, max=260136.1ms
-  sensor_polling: mean=553.6ms, total=307.80s, count=556, min=457.3ms, max=1029.0ms
-  physics_step: mean=28.0ms, total=15.57s, count=556, min=17.0ms, max=95.6ms
-  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10097.8ms, max=10097.8ms
-  save_batch_prep: mean=5.54s, total=5.54s, count=1, min=5541.3ms, max=5541.3ms
-  task_sampling: mean=473.7ms, total=947.3ms, count=2, min=450.8ms, max=496.5ms
-  task_specific_sample: mean=469.9ms, total=939.9ms, count=2, min=446.7ms, max=493.1ms
-  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.5ms, max=2.6ms
-  mj_forward_sync: mean=464.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=19.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:05:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:05:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:05:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:05:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:05:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:05:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:05:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:05:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:05:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041287m	[env.py: 870]
-05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:05:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86848824  0.32869965 -0.041287  ] yaw=160.6deg	[env.py: 1019]
-05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 130.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89924039  0.55728623 -0.041287  ] yaw=-173.9deg	[env.py: 1019]
-05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06563792  0.82324958 -0.041287  ] yaw=-157.3deg	[env.py: 1019]
-05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:05:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=240.3ms, total=240.3ms	[env.py: 1075]
-05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.868, 0.329, -0.041)	[env.py: 1079]
-05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.6 deg	[env.py: 1082]
-05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
-05/10 11:05:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:05:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:05:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:05:20 INFO: [Worker 0] Worker 0 house 1 episode 170/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:05:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.147s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:05:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:05:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:05:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:05:21 INFO: [Worker 0] Worker 0 house 1 episode 173 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:05:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.698s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:05:21 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.455[m] 100.512[deg]	[grasp_sample.py: 539]
-05/10 11:05:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:05:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:05:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:05:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:05:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:05:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:05:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:05:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:05:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:05:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:05:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:05:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:05:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:05:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:05:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:05:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:05:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:05:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:05:39 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.121s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:05:39 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.251[deg]	[grasp_sample.py: 539]
-05/10 11:05:40 ERROR: [Worker 0] Worker 0 house 1 episode 163 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 11:05:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:05:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:05:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:05:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:05:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:05:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:05:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:05:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:05:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:05:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027246m	[env.py: 870]
-05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:05:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92663026  0.22653145 -0.027246  ] yaw=171.7deg	[env.py: 1019]
-05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86426701  0.6151039  -0.027246  ] yaw=-182.3deg	[env.py: 1019]
-05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82809256  0.4141633  -0.027246  ] yaw=180.0deg	[env.py: 1019]
-05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:05:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=403.6ms, total=403.6ms	[env.py: 1075]
-05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.227, -0.027)	[env.py: 1079]
-05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.7 deg	[env.py: 1082]
-05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
-05/10 11:05:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:05:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:05:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:05:43 INFO: [Worker 0] Worker 0 house 1 episode 164/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:05:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:05:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:05:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:05:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:05:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.172s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:05:45 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.390[m] 88.530[deg]	[grasp_sample.py: 539]
-05/10 11:05:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:05:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:05:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:05:51 INFO: [Worker 0] Saved videos eagerly for episode 114 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:05:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 11:05:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:06:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:06:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:06:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.01s (batch: 5.48s, save: 10.52s)	[pipeline.py: 300]
-05/10 11:06:08 INFO: [Worker 0] [PROFILE] Episode 173 house 1 success=True episode_total=0.64s:
-  episode_total: mean=226.92s, total=226.92s, count=1, min=226923.0ms, max=226923.0ms
-  sensor_polling: mean=554.8ms, total=166.45s, count=300, min=455.8ms, max=1207.5ms
-  save_trajectories: mean=10.52s, total=10.52s, count=1, min=10524.2ms, max=10524.2ms
-  physics_step: mean=26.9ms, total=8.08s, count=300, min=16.3ms, max=106.0ms
-  save_batch_prep: mean=5.48s, total=5.48s, count=1, min=5482.2ms, max=5482.2ms
-  task_sampling: mean=635.0ms, total=635.0ms, count=1, min=635.0ms, max=635.0ms
-  task_specific_sample: mean=631.4ms, total=631.4ms, count=1, min=631.4ms, max=631.4ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=465.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:06:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:06:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:06:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:06:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:06:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:06:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:06:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:06:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:06:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:06:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:06:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011624m	[env.py: 870]
-05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:06:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13148716  0.9405822  -0.01162382] yaw=-134.8deg	[env.py: 1019]
-05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82566098  0.95792482 -0.01162382] yaw=-143.0deg	[env.py: 1019]
-05/10 11:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.74257325  0.95011512 -0.01162382] yaw=-148.2deg	[env.py: 1019]
-05/10 11:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:06:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=225.0ms, total=225.0ms	[env.py: 1075]
-05/10 11:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.131, 0.941, -0.012)	[env.py: 1079]
-05/10 11:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.8 deg	[env.py: 1082]
-05/10 11:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.732m	[env.py: 1086]
-05/10 11:06:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:06:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:06:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:06:10 INFO: [Worker 0] Worker 0 house 1 episode 174/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:06:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:06:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:06:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:06:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:06:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:06:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.313[m] 88.825[deg]	[grasp_sample.py: 539]
-05/10 11:06:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:06:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:06:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:06:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:06:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:06:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:06:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:06:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:06:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:06:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:06:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:07:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:07:19 INFO: [Worker 0] Worker 0 house 1 episode 162 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:07:46 INFO: [Worker 0] Saved videos eagerly for episode 125 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:07:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 11:07:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:08:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:08:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:08:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.66s (batch: 4.68s, save: 8.98s)	[pipeline.py: 300]
-05/10 11:08:01 INFO: [Worker 0] [PROFILE] Episode 162 house 1 success=True episode_total=0.54s:
-  episode_total: mean=240.51s, total=240.51s, count=1, min=240509.2ms, max=240509.2ms
-  sensor_polling: mean=557.7ms, total=167.32s, count=300, min=470.8ms, max=1241.5ms
-  save_trajectories: mean=8.98s, total=8.98s, count=1, min=8976.6ms, max=8976.6ms
-  physics_step: mean=28.0ms, total=8.39s, count=300, min=19.7ms, max=79.4ms
-  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4683.2ms, max=4683.2ms
-  task_sampling: mean=538.2ms, total=538.2ms, count=1, min=538.2ms, max=538.2ms
-  task_specific_sample: mean=533.3ms, total=533.3ms, count=1, min=533.3ms, max=533.3ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=633.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:08:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:08:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:08:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:08:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:08:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:08:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:08:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:08:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:08:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013290m	[env.py: 870]
-05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:08:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78652637  0.11208063 -0.01328997] yaw=166.0deg	[env.py: 1019]
-05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76150571  0.6905759  -0.01328997] yaw=-172.9deg	[env.py: 1019]
-05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76755533  0.59401302 -0.01328997] yaw=-177.4deg	[env.py: 1019]
-05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:08:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.4ms, total=122.5ms	[env.py: 1075]
-05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.787, 0.112, -0.013)	[env.py: 1079]
-05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.0 deg	[env.py: 1082]
-05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
-05/10 11:08:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:08:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:08:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:08:03 INFO: [Worker 0] Worker 0 house 1 episode 163/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:08:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:08:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:08:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:08:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:08:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.724s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:08:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.523[m] 84.235[deg]	[grasp_sample.py: 539]
-05/10 11:08:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:08:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:08:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:08:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:08:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:08:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:08:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:08:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:08:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:08:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:08:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:08:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:08:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:08:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:08:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:08:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:08:22 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.446s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:08:22 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.143[deg]	[grasp_sample.py: 539]
-05/10 11:08:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:08:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:08:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:08:27 INFO: [Worker 0] Worker 0 house 1 episode 170 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:08:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:08:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:08:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:08:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:08:57 INFO: [Worker 0] Saved videos eagerly for episode 125 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:08:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 11:08:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:08:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:08:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:09:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:09:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:09:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:09:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:09:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:09:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:09:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:09:06 INFO: [Worker 0] Worker 0 house 1 episode 174 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:09:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:09:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:09:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:09:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:09:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:09:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.57s (batch: 4.95s, save: 12.62s)	[pipeline.py: 300]
-05/10 11:09:16 INFO: [Worker 0] [PROFILE] Episode 170 house 1 success=True episode_total=0.56s:
-  episode_total: mean=235.68s, total=235.68s, count=1, min=235684.6ms, max=235684.6ms
-  sensor_polling: mean=565.6ms, total=169.67s, count=300, min=469.3ms, max=1027.4ms
-  save_trajectories: mean=12.62s, total=12.62s, count=1, min=12623.6ms, max=12623.6ms
-  physics_step: mean=28.6ms, total=8.58s, count=300, min=19.7ms, max=139.8ms
-  save_batch_prep: mean=4.95s, total=4.95s, count=1, min=4947.7ms, max=4947.7ms
-  task_sampling: mean=561.8ms, total=561.8ms, count=1, min=561.8ms, max=561.8ms
-  task_specific_sample: mean=556.7ms, total=556.7ms, count=1, min=556.7ms, max=556.7ms
-  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
-  mj_forward_sync: mean=635.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:09:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:09:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:09:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:09:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:09:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:09:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:09:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:09:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:09:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:09:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:09:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031908m	[env.py: 870]
-05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:09:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03914639  0.93829245  0.03190796] yaw=-153.7deg	[env.py: 1019]
-05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96313997  0.65171972  0.03190796] yaw=-156.0deg	[env.py: 1019]
-05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:09:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=378.9ms, total=379.0ms	[env.py: 1075]
-05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.039, 0.938, 0.032)	[env.py: 1079]
-05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.7 deg	[env.py: 1082]
-05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
-05/10 11:09:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:09:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:09:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:09:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:09:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:09:19 INFO: [Worker 0] Worker 0 house 1 episode 171/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:09:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:09:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:09:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:09:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:09:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.870s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:09:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.427[m] 99.406[deg]	[grasp_sample.py: 539]
-05/10 11:09:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:09:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:09:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:09:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:09:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:09:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:09:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:09:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:09:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:09:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:09:23 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.640s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:09:23 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.898[deg]	[grasp_sample.py: 539]
-05/10 11:09:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:09:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:09:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:09:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:09:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:09:30 INFO: [Worker 0] Worker 0 house 1 episode 164 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:09:35 INFO: [Worker 0] Saved videos eagerly for episode 115 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:09:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 11:09:35 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
-05/10 11:09:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:09:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:09:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.74s (batch: 4.39s, save: 10.36s)	[pipeline.py: 300]
-05/10 11:09:50 INFO: [Worker 0] [PROFILE] Episode 174 house 1 success=True episode_total=0.56s:
-  episode_total: mean=220.85s, total=220.85s, count=1, min=220845.6ms, max=220845.6ms
-  sensor_polling: mean=548.2ms, total=155.70s, count=284, min=463.7ms, max=1149.4ms
-  save_trajectories: mean=10.36s, total=10.36s, count=1, min=10357.0ms, max=10357.0ms
-  physics_step: mean=27.5ms, total=7.81s, count=284, min=19.5ms, max=110.6ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4386.9ms, max=4386.9ms
-  task_sampling: mean=564.6ms, total=564.6ms, count=1, min=564.6ms, max=564.6ms
-  task_specific_sample: mean=560.8ms, total=560.8ms, count=1, min=560.8ms, max=560.8ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=459.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:09:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:09:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:09:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:09:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:09:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:09:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:09:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:09:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:09:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:09:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:09:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039884m	[env.py: 870]
-05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:09:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7366531   0.05636751  0.03988444] yaw=161.1deg	[env.py: 1019]
-05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93183576  1.05902747  0.03988444] yaw=-139.1deg	[env.py: 1019]
-05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:09:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=250.9ms, total=251.0ms	[env.py: 1075]
-05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.737, 0.056, 0.040)	[env.py: 1079]
-05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.1 deg	[env.py: 1082]
-05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
-05/10 11:09:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:09:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:09:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:09:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:09:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:09:53 INFO: [Worker 0] Worker 0 house 1 episode 175/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:09:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:09:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:09:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:09:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:09:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.971s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:09:55 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.651[m] 93.209[deg]	[grasp_sample.py: 539]
-05/10 11:09:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:09:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:09:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:10:00 INFO: [Worker 0] Saved videos eagerly for episode 119 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:10:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 11:10:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:10:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:10:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:10:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:10:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.04s (batch: 5.11s, save: 10.93s)	[pipeline.py: 300]
-05/10 11:10:17 INFO: [Worker 0] [PROFILE] Episode 164 house 1 success=True episode_total=1.26s:
-  episode_total: mean=222.79s, total=445.59s, count=2, min=171207.9ms, max=274378.3ms
-  sensor_polling: mean=551.3ms, total=310.40s, count=563, min=459.6ms, max=965.7ms
-  physics_step: mean=26.8ms, total=15.08s, count=563, min=16.9ms, max=132.2ms
-  save_trajectories: mean=10.93s, total=10.93s, count=1, min=10932.1ms, max=10932.1ms
-  save_batch_prep: mean=5.11s, total=5.11s, count=1, min=5109.4ms, max=5109.4ms
-  task_sampling: mean=629.9ms, total=1.26s, count=2, min=475.8ms, max=784.0ms
-  task_specific_sample: mean=615.9ms, total=1.23s, count=2, min=471.4ms, max=760.3ms
-  scene_randomize: mean=11.2ms, total=22.4ms, count=2, min=2.8ms, max=19.6ms
-  mj_forward_sync: mean=640.6us, total=1.3ms, count=2, min=0.5ms, max=0.8ms
-  policy_setup: mean=19.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:10:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:10:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:10:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:10:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:10:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:10:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:10:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015137m	[env.py: 870]
-05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:10:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68931129  0.23358773 -0.01513747] yaw=167.7deg	[env.py: 1019]
-05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:10:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=343.2ms, total=343.2ms	[env.py: 1075]
-05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.689, 0.234, -0.015)	[env.py: 1079]
-05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.7 deg	[env.py: 1082]
-05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
-05/10 11:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:10:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:10:20 INFO: [Worker 0] Worker 0 house 1 episode 165/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:10:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:10:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:10:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:10:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:10:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:10:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.775s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:10:22 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.577[m] 80.952[deg]	[grasp_sample.py: 539]
-05/10 11:10:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:10:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:10:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:10:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:11:08 INFO: [Worker 0] Worker 0 house 1 episode 163 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:11:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:11:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:11:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:11:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:11:34 INFO: [Worker 0] Saved videos eagerly for episode 126 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:11:34 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 11:11:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:11:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:11:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:11:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:11:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:11:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.54s (batch: 4.74s, save: 9.81s)	[pipeline.py: 300]
-05/10 11:11:50 INFO: [Worker 0] [PROFILE] Episode 163 house 1 success=True episode_total=0.44s:
-  episode_total: mean=227.37s, total=227.37s, count=1, min=227370.1ms, max=227370.1ms
-  sensor_polling: mean=566.8ms, total=170.05s, count=300, min=459.0ms, max=1153.8ms
-  save_trajectories: mean=9.81s, total=9.81s, count=1, min=9805.7ms, max=9805.7ms
-  physics_step: mean=29.9ms, total=8.96s, count=300, min=19.6ms, max=120.2ms
-  save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4736.8ms, max=4736.8ms
-  task_sampling: mean=442.4ms, total=442.4ms, count=1, min=442.4ms, max=442.4ms
-  task_specific_sample: mean=438.6ms, total=438.6ms, count=1, min=438.6ms, max=438.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=458.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:11:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:11:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:11:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:11:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:11:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:11:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:11:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:11:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:11:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005950m	[env.py: 870]
-05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:11:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85248997  0.20877339 -0.00594978] yaw=165.6deg	[env.py: 1019]
-05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77580107  0.41629608 -0.00594978] yaw=169.3deg	[env.py: 1019]
-05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.20598361  1.00381562 -0.00594978] yaw=-123.1deg	[env.py: 1019]
-05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:11:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=227.5ms, total=227.5ms	[env.py: 1075]
-05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.852, 0.209, -0.006)	[env.py: 1079]
-05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.6 deg	[env.py: 1082]
-05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
-05/10 11:11:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:11:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:11:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:11:52 INFO: [Worker 0] Worker 0 house 1 episode 164/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:11:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:11:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:11:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:11:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:11:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.658s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:11:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.422[m] 88.379[deg]	[grasp_sample.py: 539]
-05/10 11:11:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:11:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:11:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:12:16 INFO: [Worker 0] Worker 0 house 1 episode 171 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:12:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:12:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:12:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:12:47 INFO: [Worker 0] Saved videos eagerly for episode 126 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:12:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 11:12:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:12:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:12:56 INFO: [Worker 0] Worker 0 house 1 episode 175 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:12:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:13:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:13:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:13:01 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.56s (batch: 4.59s, save: 9.97s)	[pipeline.py: 300]
-05/10 11:13:02 INFO: [Worker 0] [PROFILE] Episode 171 house 1 success=True episode_total=0.75s:
-  episode_total: mean=224.20s, total=224.20s, count=1, min=224201.3ms, max=224201.3ms
-  sensor_polling: mean=547.1ms, total=164.14s, count=300, min=456.9ms, max=970.7ms
-  save_trajectories: mean=9.97s, total=9.97s, count=1, min=9966.5ms, max=9966.5ms
-  physics_step: mean=27.7ms, total=8.30s, count=300, min=19.4ms, max=81.0ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4589.6ms, max=4589.6ms
-  task_sampling: mean=754.8ms, total=754.8ms, count=1, min=754.8ms, max=754.8ms
-  task_specific_sample: mean=749.8ms, total=749.8ms, count=1, min=749.8ms, max=749.8ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=650.9us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:13:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:13:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:13:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:13:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:13:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:13:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:13:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:13:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:13:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:13:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:13:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004772m	[env.py: 870]
-05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:13:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84519638  0.38716515 -0.00477242] yaw=182.4deg	[env.py: 1019]
-05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9982889   0.13152561 -0.00477242] yaw=161.1deg	[env.py: 1019]
-05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8361702   0.22896649 -0.00477242] yaw=169.9deg	[env.py: 1019]
-05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:13:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.8ms, total=153.8ms	[env.py: 1075]
-05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.845, 0.387, -0.005)	[env.py: 1079]
-05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.4 deg	[env.py: 1082]
-05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m	[env.py: 1086]
-05/10 11:13:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:13:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:13:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:13:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:13:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:13:04 INFO: [Worker 0] Worker 0 house 1 episode 172/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:13:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.176s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:13:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:13:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:13:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:13:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.183s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:13:06 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.400[m] 84.563[deg]	[grasp_sample.py: 539]
-05/10 11:13:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:13:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:13:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:13:26 INFO: [Worker 0] Saved videos eagerly for episode 116 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:13:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 11:13:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:13:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:13:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:13:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.24s (batch: 4.63s, save: 9.61s)	[pipeline.py: 300]
-05/10 11:13:42 INFO: [Worker 0] [PROFILE] Episode 175 house 1 success=True episode_total=0.56s:
-  episode_total: mean=229.63s, total=229.63s, count=1, min=229634.9ms, max=229634.9ms
-  sensor_polling: mean=559.1ms, total=167.73s, count=300, min=473.9ms, max=996.0ms
-  save_trajectories: mean=9.61s, total=9.61s, count=1, min=9608.1ms, max=9608.1ms
-  physics_step: mean=28.0ms, total=8.41s, count=300, min=19.7ms, max=106.6ms
-  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4631.7ms, max=4631.7ms
-  task_sampling: mean=560.6ms, total=560.6ms, count=1, min=560.6ms, max=560.6ms
-  task_specific_sample: mean=556.7ms, total=556.7ms, count=1, min=556.7ms, max=556.7ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=462.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:13:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:13:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:13:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:13:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:13:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:13:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:13:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:13:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:13:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018421m	[env.py: 870]
-05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:13:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07795015  1.11972237  0.01842072] yaw=-124.1deg	[env.py: 1019]
-05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83246135  0.42610483  0.01842072] yaw=171.9deg	[env.py: 1019]
-05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98282656  0.21636654  0.01842072] yaw=157.7deg	[env.py: 1019]
-05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:13:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=376.2ms, total=376.2ms	[env.py: 1075]
-05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.078, 1.120, 0.018)	[env.py: 1079]
-05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.1 deg	[env.py: 1082]
-05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
-05/10 11:13:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:13:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:13:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:13:46 INFO: [Worker 0] Worker 0 house 1 episode 176/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:13:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.200s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:13:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:13:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:13:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.148s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:13:47 INFO: [Worker 0] Worker 0 house 1 episode 165 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:13:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.604s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:13:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.489[m] 92.814[deg]	[grasp_sample.py: 539]
-05/10 11:13:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:13:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:13:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:13:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:14:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:14:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:14:12 INFO: [Worker 0] Saved videos eagerly for episode 120 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:14:12 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 11:14:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:14:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:14:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:14:29 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.14s (batch: 5.65s, save: 10.49s)	[pipeline.py: 300]
-05/10 11:14:29 INFO: [Worker 0] [PROFILE] Episode 165 house 1 success=True episode_total=0.71s:
-  episode_total: mean=250.17s, total=250.17s, count=1, min=250172.4ms, max=250172.4ms
-  sensor_polling: mean=552.1ms, total=165.64s, count=300, min=447.9ms, max=963.7ms
-  save_trajectories: mean=10.49s, total=10.49s, count=1, min=10491.0ms, max=10491.0ms
-  physics_step: mean=27.4ms, total=8.22s, count=300, min=19.2ms, max=65.2ms
-  save_batch_prep: mean=5.65s, total=5.65s, count=1, min=5647.9ms, max=5647.9ms
-  task_sampling: mean=714.8ms, total=714.8ms, count=1, min=714.8ms, max=714.8ms
-  task_specific_sample: mean=710.4ms, total=710.4ms, count=1, min=710.4ms, max=710.4ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=537.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:14:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:14:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:14:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:14:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:14:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:14:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:14:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012877m	[env.py: 870]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:14:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11461783  0.96136897  0.01287673] yaw=-136.8deg	[env.py: 1019]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9669272   0.85036587  0.01287673] yaw=-149.0deg	[env.py: 1019]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.65079299  0.71458225  0.01287673] yaw=-166.3deg	[env.py: 1019]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:14:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=215.2ms, total=215.2ms	[env.py: 1075]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.115, 0.961, 0.013)	[env.py: 1079]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.8 deg	[env.py: 1082]
-05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m	[env.py: 1086]
-05/10 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:14:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:14:32 INFO: [Worker 0] Worker 0 house 1 episode 166/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:14:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:14:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:14:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:14:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:14:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.579s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:14:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.377[m] 97.676[deg]	[grasp_sample.py: 539]
-05/10 11:14:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:14:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:14:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:14:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:14:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:14:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:14:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:14:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:14:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:14:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:14:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:14:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:14:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:14:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:14:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:14:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:14:55 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.483s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:14:55 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.946[deg]	[grasp_sample.py: 539]
-05/10 11:14:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:14:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:14:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:14:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:15:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:15:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:15:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:15:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:15:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:15:20 INFO: [Worker 0] Worker 0 house 1 episode 164 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:15:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:15:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:15:51 INFO: [Worker 0] Saved videos eagerly for episode 127 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:15:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 11:15:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:16:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:16:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:16:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.64s (batch: 4.92s, save: 11.72s)	[pipeline.py: 300]
-05/10 11:16:08 INFO: [Worker 0] [PROFILE] Episode 164 house 1 success=True episode_total=0.54s:
-  episode_total: mean=256.42s, total=256.42s, count=1, min=256423.1ms, max=256423.1ms
-  sensor_polling: mean=562.4ms, total=168.73s, count=300, min=463.7ms, max=1041.3ms
-  save_trajectories: mean=11.72s, total=11.72s, count=1, min=11721.4ms, max=11721.4ms
-  physics_step: mean=29.3ms, total=8.80s, count=300, min=19.4ms, max=127.1ms
-  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4915.3ms, max=4915.3ms
-  task_sampling: mean=544.4ms, total=544.4ms, count=1, min=544.4ms, max=544.4ms
-  task_specific_sample: mean=540.2ms, total=540.2ms, count=1, min=540.2ms, max=540.2ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=606.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:16:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:16:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:16:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:16:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:16:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:16:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:16:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:16:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:16:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009857m	[env.py: 870]
-05/10 11:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:16:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80860271  0.42573528  0.00985729] yaw=186.8deg	[env.py: 1019]
-05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81020607  0.16573909  0.00985729] yaw=164.2deg	[env.py: 1019]
-05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:16:11 INFO: [Worker 0] Worker 0 house 1 episode 172 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.71454376  0.36614581  0.00985729] yaw=181.8deg	[env.py: 1019]
-05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:16:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=320.5ms, total=320.5ms	[env.py: 1075]
-05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.809, 0.426, 0.010)	[env.py: 1079]
-05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.8 deg	[env.py: 1082]
-05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
-05/10 11:16:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:16:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:16:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:16:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:16:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:16:11 INFO: [Worker 0] Worker 0 house 1 episode 165/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:16:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:16:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:16:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:16:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:16:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.530s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:16:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.478[m] 96.111[deg]	[grasp_sample.py: 539]
-05/10 11:16:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:16:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:16:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:16:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:16:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:16:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:16:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:16:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:16:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:16:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:16:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:16:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:16:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:16:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:16:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:16:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 82 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:16:42 INFO: [Worker 0] Saved videos eagerly for episode 127 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:16:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 11:16:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:16:49 INFO: [Worker 0] Feasibility-checked 82 grasps in 12.088s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:16:49 INFO: [Worker 0] Feasible grasp found 121 (originally 6): w/ 0.258[m] 20.766[deg]	[grasp_sample.py: 539]
-05/10 11:16:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:16:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:16:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:16:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:16:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:16:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:16:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:16:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:16:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.75s (batch: 5.51s, save: 10.24s)	[pipeline.py: 300]
-05/10 11:16:58 INFO: [Worker 0] [PROFILE] Episode 172 house 1 success=True episode_total=0.53s:
-  episode_total: mean=234.47s, total=234.47s, count=1, min=234474.7ms, max=234474.7ms
-  sensor_polling: mean=558.8ms, total=167.64s, count=300, min=464.0ms, max=877.1ms
-  save_trajectories: mean=10.24s, total=10.24s, count=1, min=10242.6ms, max=10242.6ms
-  physics_step: mean=29.7ms, total=8.92s, count=300, min=19.6ms, max=99.0ms
-  save_batch_prep: mean=5.51s, total=5.51s, count=1, min=5508.4ms, max=5508.4ms
-  task_sampling: mean=528.9ms, total=528.9ms, count=1, min=528.9ms, max=528.9ms
-  task_specific_sample: mean=524.8ms, total=524.8ms, count=1, min=524.8ms, max=524.8ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=417.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:16:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:17:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:17:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:17:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:17:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:17:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:17:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:17:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:17:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:17:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014491m	[env.py: 870]
-05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:17:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88720472  0.72739871  0.01449133] yaw=-165.1deg	[env.py: 1019]
-05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.21079753  1.07621207  0.01449133] yaw=-131.0deg	[env.py: 1019]
-05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.98349411  0.2451539   0.01449133] yaw=164.9deg	[env.py: 1019]
-05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:17:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.4ms, total=219.4ms	[env.py: 1075]
-05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.887, 0.727, 0.014)	[env.py: 1079]
-05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.1 deg	[env.py: 1082]
-05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
-05/10 11:17:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:17:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:17:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:17:01 INFO: [Worker 0] Worker 0 house 1 episode 173/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:17:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:17:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:17:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:17:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:17:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:17:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:17:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.412[m] 87.318[deg]	[grasp_sample.py: 539]
-05/10 11:17:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:17:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:17:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:17:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:17:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:17:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:17:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:17:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:17:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:17:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:17:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 84 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:17:09 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.856s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:17:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.053[m] 27.997[deg]	[grasp_sample.py: 539]
-05/10 11:17:10 ERROR: [Worker 0] Worker 0 house 1 episode 176 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 11:17:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:17:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:17:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:17:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:17:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:17:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:17:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:17:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:17:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:17:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:17:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:17:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021196m	[env.py: 870]
-05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:17:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98187417  0.63467174 -0.02119619] yaw=-162.4deg	[env.py: 1019]
-05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62740073  0.47920402 -0.02119619] yaw=172.5deg	[env.py: 1019]
-05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:17:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=342.9ms, total=343.0ms	[env.py: 1075]
-05/10 11:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.635, -0.021)	[env.py: 1079]
-05/10 11:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.4 deg	[env.py: 1082]
-05/10 11:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.736m	[env.py: 1086]
-05/10 11:17:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:17:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:17:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:17:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:17:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:17:13 INFO: [Worker 0] Worker 0 house 1 episode 177/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:17:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:17:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:17:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:17:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:17:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.493s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:17:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.267[m] 82.138[deg]	[grasp_sample.py: 539]
-05/10 11:17:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:17:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:17:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:17:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:17:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:17:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:17:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:17:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:17:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:17:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:17:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:17:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:17:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:17:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:17:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:17:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:17:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:17:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:17:42 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.728s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:17:42 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.349[deg]	[grasp_sample.py: 539]
-05/10 11:17:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:17:43 ERROR: [Worker 0] Worker 0 house 1 episode 166 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 11:17:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:17:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:17:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:17:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:17:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:17:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:17:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:17:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:17:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046724m	[env.py: 870]
-05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:17:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75456103  0.82571162 -0.0467239 ] yaw=-158.7deg	[env.py: 1019]
-05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.70066927  0.16431873 -0.0467239 ] yaw=159.6deg	[env.py: 1019]
-05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:17:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=271.0ms, total=271.0ms	[env.py: 1075]
-05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.755, 0.826, -0.047)	[env.py: 1079]
-05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.7 deg	[env.py: 1082]
-05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m	[env.py: 1086]
-05/10 11:17:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:17:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:17:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:17:45 INFO: [Worker 0] Worker 0 house 1 episode 167/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:17:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:17:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:17:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:17:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:17:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.243s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:17:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.582[m] 89.884[deg]	[grasp_sample.py: 539]
-05/10 11:17:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:17:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:17:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:17:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:17:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:17:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:17:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:18:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:18:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:18:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:19:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:19:08 INFO: [Worker 0] Worker 0 house 1 episode 165 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:19:39 INFO: [Worker 0] Saved videos eagerly for episode 128 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:19:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 11:19:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:19:49 INFO: [Worker 0] Worker 0 house 1 episode 177 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:19:54 INFO: [Worker 0] Worker 0 house 1 episode 173 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:19:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:19:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:19:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.64s (batch: 4.69s, save: 10.95s)	[pipeline.py: 300]
-05/10 11:19:56 INFO: [Worker 0] [PROFILE] Episode 165 house 1 success=True episode_total=0.65s:
-  episode_total: mean=225.22s, total=225.22s, count=1, min=225221.4ms, max=225221.4ms
-  sensor_polling: mean=542.7ms, total=162.80s, count=300, min=460.8ms, max=1003.3ms
-  save_trajectories: mean=10.95s, total=10.95s, count=1, min=10952.9ms, max=10952.9ms
-  physics_step: mean=26.3ms, total=7.88s, count=300, min=19.2ms, max=57.9ms
-  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4691.4ms, max=4691.4ms
-  task_sampling: mean=651.5ms, total=651.5ms, count=1, min=651.5ms, max=651.5ms
-  task_specific_sample: mean=643.1ms, total=643.1ms, count=1, min=643.1ms, max=643.1ms
-  scene_randomize: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms
-  mj_forward_sync: mean=559.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:19:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:19:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:19:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:19:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:19:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:19:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:19:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:19:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:19:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:19:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:19:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045319m	[env.py: 870]
-05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:19:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 129.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09669724  0.93395788  0.04531942] yaw=-138.7deg	[env.py: 1019]
-05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.68198027  0.09975695  0.04531942] yaw=149.8deg	[env.py: 1019]
-05/10 11:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:19:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=283.6ms, total=283.7ms	[env.py: 1075]
-05/10 11:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.097, 0.934, 0.045)	[env.py: 1079]
-05/10 11:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.7 deg	[env.py: 1082]
-05/10 11:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
-05/10 11:19:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:19:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:19:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:19:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:19:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:19:58 INFO: [Worker 0] Worker 0 house 1 episode 166/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:19:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:19:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:19:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:19:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:19:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:19:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.324[m] 92.842[deg]	[grasp_sample.py: 539]
-05/10 11:19:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:19:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:19:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:20:17 INFO: [Worker 0] Saved videos eagerly for episode 117 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:20:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 11:20:17 INFO: [Worker 0] Preparing episode data: 275 timesteps	[save_utils.py: 278]
-05/10 11:20:23 INFO: [Worker 0] Saved videos eagerly for episode 128 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:20:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 11:20:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:20:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:20:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:20:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.17s (batch: 4.87s, save: 12.30s)	[pipeline.py: 300]
-05/10 11:20:34 INFO: [Worker 0] [PROFILE] Episode 177 house 1 success=True episode_total=1.35s:
-  episode_total: mean=203.88s, total=407.75s, count=2, min=202282.2ms, max=205469.7ms
-  sensor_polling: mean=529.9ms, total=294.12s, count=555, min=445.6ms, max=1146.9ms
-  physics_step: mean=26.5ms, total=14.68s, count=555, min=17.6ms, max=134.1ms
-  save_trajectories: mean=12.30s, total=12.30s, count=1, min=12300.4ms, max=12300.4ms
-  save_batch_prep: mean=4.87s, total=4.87s, count=1, min=4872.9ms, max=4872.9ms
-  task_sampling: mean=676.4ms, total=1.35s, count=2, min=618.9ms, max=733.9ms
-  task_specific_sample: mean=672.2ms, total=1.34s, count=2, min=615.6ms, max=728.8ms
-  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.4ms, max=3.4ms
-  mj_forward_sync: mean=507.1us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=23.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:20:35 INFO: [Worker 0] Worker 0 house 1 episode 167 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:20:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:20:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:20:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:20:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:20:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:20:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:20:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:20:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:20:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:20:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:20:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:20:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027816m	[env.py: 870]
-05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:20:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99213188  0.27891664  0.0278155 ] yaw=172.4deg	[env.py: 1019]
-05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72412481  0.72722164  0.0278155 ] yaw=-160.1deg	[env.py: 1019]
-05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96744112  1.29288778  0.0278155 ] yaw=-129.6deg	[env.py: 1019]
-05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:20:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.8ms, total=155.9ms	[env.py: 1075]
-05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.992, 0.279, 0.028)	[env.py: 1079]
-05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.4 deg	[env.py: 1082]
-05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.739m	[env.py: 1086]
-05/10 11:20:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:20:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:20:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:20:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:20:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:20:36 INFO: [Worker 0] Worker 0 house 1 episode 178/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:20:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:20:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:20:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:20:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:20:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:20:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.347[m] 101.201[deg]	[grasp_sample.py: 539]
-05/10 11:20:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:20:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:20:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:20:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:20:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:20:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.46s (batch: 5.47s, save: 10.99s)	[pipeline.py: 300]
-05/10 11:20:40 INFO: [Worker 0] [PROFILE] Episode 173 house 1 success=True episode_total=0.53s:
-  episode_total: mean=219.81s, total=219.81s, count=1, min=219807.4ms, max=219807.4ms
-  sensor_polling: mean=533.7ms, total=160.10s, count=300, min=444.2ms, max=1021.7ms
-  save_trajectories: mean=10.99s, total=10.99s, count=1, min=10989.4ms, max=10989.4ms
-  physics_step: mean=26.8ms, total=8.03s, count=300, min=16.2ms, max=117.5ms
-  save_batch_prep: mean=5.47s, total=5.47s, count=1, min=5467.0ms, max=5467.0ms
-  task_sampling: mean=529.6ms, total=529.6ms, count=1, min=529.6ms, max=529.6ms
-  task_specific_sample: mean=525.2ms, total=525.2ms, count=1, min=525.2ms, max=525.2ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=558.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:20:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:20:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:20:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:20:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:20:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:20:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:20:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:20:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:20:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010814m	[env.py: 870]
-05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:20:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06887059  1.12950374  0.01081428] yaw=-127.9deg	[env.py: 1019]
-05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69401924  0.87104944  0.01081428] yaw=-155.2deg	[env.py: 1019]
-05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94388493  0.47753309  0.01081428] yaw=169.7deg	[env.py: 1019]
-05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:20:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.9ms, total=112.9ms	[env.py: 1075]
-05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.069, 1.130, 0.011)	[env.py: 1079]
-05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.9 deg	[env.py: 1082]
-05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
-05/10 11:20:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:20:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:20:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:20:42 INFO: [Worker 0] Worker 0 house 1 episode 174/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:20:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:20:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:20:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:20:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:20:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.625s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:20:44 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.511[m] 95.889[deg]	[grasp_sample.py: 539]
-05/10 11:20:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:20:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:20:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:20:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:20:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:21:00 INFO: [Worker 0] Saved videos eagerly for episode 121 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:21:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 11:21:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:21:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:21:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:21:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:21:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.43s (batch: 4.59s, save: 9.84s)	[pipeline.py: 300]
-05/10 11:21:16 INFO: [Worker 0] [PROFILE] Episode 167 house 1 success=True episode_total=1.10s:
-  episode_total: mean=201.45s, total=402.90s, count=2, min=191737.2ms, max=211157.9ms
-  sensor_polling: mean=535.3ms, total=319.06s, count=596, min=420.5ms, max=1016.8ms
-  physics_step: mean=26.0ms, total=15.47s, count=596, min=19.2ms, max=82.8ms
-  save_trajectories: mean=9.84s, total=9.84s, count=1, min=9844.2ms, max=9844.2ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4586.2ms, max=4586.2ms
-  task_sampling: mean=548.3ms, total=1.10s, count=2, min=546.0ms, max=550.5ms
-  task_specific_sample: mean=544.4ms, total=1.09s, count=2, min=543.0ms, max=545.7ms
-  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.4ms, max=3.2ms
-  mj_forward_sync: mean=538.2us, total=1.1ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:21:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:21:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:21:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:21:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:21:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:21:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:21:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:21:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:21:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008185m	[env.py: 870]
-05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:21:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9970272   0.19183449 -0.00818507] yaw=153.8deg	[env.py: 1019]
-05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72676679  0.2805655  -0.00818507] yaw=172.5deg	[env.py: 1019]
-05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82361693  0.84483168 -0.00818507] yaw=-160.7deg	[env.py: 1019]
-05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:21:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=495.8ms, total=495.8ms	[env.py: 1075]
-05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.997, 0.192, -0.008)	[env.py: 1079]
-05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.8 deg	[env.py: 1082]
-05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.763m	[env.py: 1086]
-05/10 11:21:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:21:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:21:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:21:18 INFO: [Worker 0] Worker 0 house 1 episode 168/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:21:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:21:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:21:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:21:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:21:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.788s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:21:19 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.317[m] 90.554[deg]	[grasp_sample.py: 539]
-05/10 11:21:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:21:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:21:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:21:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:21:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:21:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:21:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:21:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:21:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:21:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:21:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:22:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:22:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:22:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:22:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:22:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:22:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:22:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:22:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:22:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:22:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:22:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:22:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:22:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:22:13 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.614s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:22:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.482[deg]	[grasp_sample.py: 539]
-05/10 11:22:14 ERROR: [Worker 0] Worker 0 house 1 episode 178 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 11:22:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:22:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:22:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:22:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:22:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:22:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:22:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015925m	[env.py: 870]
-05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:22:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80611022  0.57475162 -0.01592548] yaw=-179.7deg	[env.py: 1019]
-05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83261214  0.05523552 -0.01592548] yaw=157.5deg	[env.py: 1019]
-05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:22:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=376.1ms, total=376.1ms	[env.py: 1075]
-05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.575, -0.016)	[env.py: 1079]
-05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.7 deg	[env.py: 1082]
-05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
-05/10 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:22:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:22:17 INFO: [Worker 0] Worker 0 house 1 episode 179/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:22:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:22:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:22:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:22:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:22:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.499s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:22:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.437[m] 81.239[deg]	[grasp_sample.py: 539]
-05/10 11:22:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:22:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:22:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:22:38 INFO: [Worker 0] Worker 0 house 1 episode 166 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:23:02 INFO: [Worker 0] Saved videos eagerly for episode 129 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:23:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 11:23:02 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
-05/10 11:23:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:23:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:23:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:23:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:23:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:23:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:23:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:23:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:23:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:23:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:23:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:23:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.68s (batch: 4.29s, save: 10.39s)	[pipeline.py: 300]
-05/10 11:23:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:23:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:23:17 INFO: [Worker 0] [PROFILE] Episode 166 house 1 success=True episode_total=0.62s:
-  episode_total: mean=199.63s, total=199.63s, count=1, min=199626.9ms, max=199626.9ms
-  sensor_polling: mean=516.3ms, total=148.17s, count=287, min=427.4ms, max=1115.0ms
-  save_trajectories: mean=10.39s, total=10.39s, count=1, min=10389.7ms, max=10389.7ms
-  physics_step: mean=26.2ms, total=7.51s, count=287, min=16.4ms, max=87.3ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4293.9ms, max=4293.9ms
-  task_sampling: mean=622.1ms, total=622.1ms, count=1, min=622.1ms, max=622.1ms
-  task_specific_sample: mean=618.5ms, total=618.5ms, count=1, min=618.5ms, max=618.5ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=414.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:23:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:23:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:23:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:23:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:23:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:23:19 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.399s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:23:19 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.135[deg]	[grasp_sample.py: 539]
-05/10 11:23:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:23:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:23:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:23:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:23:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:23:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:23:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:23:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:23:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:23:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:23:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:23:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035668m	[env.py: 870]
-05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:23:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05129028  0.98193404 -0.03566769] yaw=-147.5deg	[env.py: 1019]
-05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92910885  0.460038   -0.03566769] yaw=170.5deg	[env.py: 1019]
-05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74197371  0.48670528 -0.03566769] yaw=-168.6deg	[env.py: 1019]
-05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:23:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.3ms, total=87.3ms	[env.py: 1075]
-05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.051, 0.982, -0.036)	[env.py: 1079]
-05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.5 deg	[env.py: 1082]
-05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
-05/10 11:23:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:23:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:23:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:23:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:23:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:23:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:23:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:23:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:23:19 INFO: [Worker 0] Worker 0 house 1 episode 167/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:23:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:23:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:23:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:23:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:23:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.595s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:23:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.413[m] 89.274[deg]	[grasp_sample.py: 539]
-05/10 11:23:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:23:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:23:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:23:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:23:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:23:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:23:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:23:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:23:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:23:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:23:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:23:29 INFO: [Worker 0] Feasibility-checked 78 grasps in 3.909s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:23:29 ERROR: [Worker 0] Worker 0 house 1 episode 174 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
-05/10 11:23:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:23:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:23:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:23:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:23:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:23:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:23:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:23:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:23:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026621m	[env.py: 870]
-05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:23:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84729865  0.03976508 -0.02662052] yaw=142.9deg	[env.py: 1019]
-05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.05325158  0.21407044 -0.02662052] yaw=166.8deg	[env.py: 1019]
-05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85085871  0.56891428 -0.02662052] yaw=-179.6deg	[env.py: 1019]
-05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:23:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=376.7ms, total=376.8ms	[env.py: 1075]
-05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.040, -0.027)	[env.py: 1079]
-05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.9 deg	[env.py: 1082]
-05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
-05/10 11:23:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:23:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:23:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:23:32 INFO: [Worker 0] Worker 0 house 1 episode 175/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:23:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:23:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:23:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:23:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:23:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:23:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.214s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:23:35 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.549[m] 96.934[deg]	[grasp_sample.py: 539]
-05/10 11:23:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:23:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:23:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:23:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:23:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:23:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:23:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:24:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:24:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:24:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:24:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:24:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:24:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:24:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:24:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:24:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:24:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:24:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:24:10 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.316s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:24:10 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.945[deg]	[grasp_sample.py: 539]
-05/10 11:24:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:24:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:24:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:24:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:24:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:24:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:24:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:24:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:24:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:24:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:24:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:24:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:24:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:24:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:24:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:24:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:24:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:24:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:24:51 INFO: [Worker 0] Worker 0 house 1 episode 168 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:24:57 INFO: [Worker 0] Worker 0 house 1 episode 179 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:25:14 INFO: [Worker 0] Saved videos eagerly for episode 122 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:25:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 11:25:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:25:22 INFO: [Worker 0] Saved videos eagerly for episode 118 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:25:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 11:25:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:25:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:25:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:25:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.68s (batch: 4.30s, save: 8.38s)	[pipeline.py: 300]
-05/10 11:25:27 INFO: [Worker 0] [PROFILE] Episode 168 house 1 success=True episode_total=0.89s:
-  episode_total: mean=249.81s, total=249.81s, count=1, min=249811.1ms, max=249811.1ms
-  sensor_polling: mean=513.4ms, total=154.03s, count=300, min=434.6ms, max=874.1ms
-  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8377.4ms, max=8377.4ms
-  physics_step: mean=23.4ms, total=7.02s, count=300, min=16.7ms, max=140.3ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4304.6ms, max=4304.6ms
-  task_sampling: mean=893.3ms, total=893.3ms, count=1, min=893.3ms, max=893.3ms
-  task_specific_sample: mean=889.2ms, total=889.2ms, count=1, min=889.2ms, max=889.2ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=394.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:25:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:25:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:25:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:25:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:25:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:25:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:25:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:25:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:25:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036671m	[env.py: 870]
-05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:25:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82954454  0.16424634 -0.03667115] yaw=157.8deg	[env.py: 1019]
-05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:25:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=183.2ms, total=183.2ms	[env.py: 1075]
-05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.830, 0.164, -0.037)	[env.py: 1079]
-05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.8 deg	[env.py: 1082]
-05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
-05/10 11:25:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:25:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:25:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:25:29 INFO: [Worker 0] Worker 0 house 1 episode 169/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:25:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:25:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:25:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:25:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:25:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.711s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:25:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.457[m] 82.757[deg]	[grasp_sample.py: 539]
-05/10 11:25:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:25:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:25:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:25:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:25:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:25:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.85s (batch: 4.31s, save: 8.54s)	[pipeline.py: 300]
-05/10 11:25:35 INFO: [Worker 0] [PROFILE] Episode 179 house 1 success=True episode_total=1.17s:
-  episode_total: mean=148.90s, total=297.80s, count=2, min=98186.5ms, max=199613.1ms
-  sensor_polling: mean=494.9ms, total=222.69s, count=450, min=415.1ms, max=985.4ms
-  physics_step: mean=25.0ms, total=11.24s, count=450, min=14.7ms, max=76.7ms
-  save_trajectories: mean=8.54s, total=8.54s, count=1, min=8542.3ms, max=8542.3ms
-  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4311.0ms, max=4311.0ms
-  task_sampling: mean=586.2ms, total=1.17s, count=2, min=462.4ms, max=710.0ms
-  task_specific_sample: mean=581.9ms, total=1.16s, count=2, min=458.4ms, max=705.4ms
-  scene_randomize: mean=2.6ms, total=5.1ms, count=2, min=2.5ms, max=2.6ms
-  mj_forward_sync: mean=530.7us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=16.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:25:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:25:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:25:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:25:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:25:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:25:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:25:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:25:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:25:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007842m	[env.py: 870]
-05/10 11:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:25:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.17760641  1.10110469 -0.00784156] yaw=-134.0deg	[env.py: 1019]
-05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11036275  1.10197281 -0.00784156] yaw=-143.1deg	[env.py: 1019]
-05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8287589   0.86605642 -0.00784156] yaw=-146.6deg	[env.py: 1019]
-05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:25:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=518.8ms, total=518.9ms	[env.py: 1075]
-05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.178, 1.101, -0.008)	[env.py: 1079]
-05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.0 deg	[env.py: 1082]
-05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m	[env.py: 1086]
-05/10 11:25:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:25:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:25:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:25:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:25:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:25:38 INFO: [Worker 0] Worker 0 house 1 episode 180/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:25:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:25:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:25:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:25:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:25:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.051s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:25:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.451[m] 96.617[deg]	[grasp_sample.py: 539]
-05/10 11:25:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:25:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:25:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:25:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:25:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:25:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:25:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:25:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:25:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:26:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:26:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:26:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:26:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:26:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:26:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:26:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:26:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.058s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:26:05 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.264[deg]	[grasp_sample.py: 539]
-05/10 11:26:07 ERROR: [Worker 0] Worker 0 house 1 episode 167 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 11:26:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:26:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:26:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:26:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:26:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:26:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:26:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:26:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:26:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:26:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:26:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023094m	[env.py: 870]
-05/10 11:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:26:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05931724  1.00896145  0.02309407] yaw=-151.3deg	[env.py: 1019]
-05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72382183  0.50284685  0.02309407] yaw=-183.5deg	[env.py: 1019]
-05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.70875446  0.71139531  0.02309407] yaw=-163.5deg	[env.py: 1019]
-05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:26:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=340.6ms, total=340.7ms	[env.py: 1075]
-05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.059, 1.009, 0.023)	[env.py: 1079]
-05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.3 deg	[env.py: 1082]
-05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
-05/10 11:26:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:26:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:26:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:26:09 INFO: [Worker 0] Worker 0 house 1 episode 168/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:26:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:26:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:26:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:26:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:26:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.917s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:26:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.410[m] 85.805[deg]	[grasp_sample.py: 539]
-05/10 11:26:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:26:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:26:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:26:14 INFO: [Worker 0] Worker 0 house 1 episode 175 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:26:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:26:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:26:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:26:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:26:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:26:40 INFO: [Worker 0] Saved videos eagerly for episode 129 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:26:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 11:26:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:26:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:26:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:26:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:26:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:26:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.52s (batch: 4.27s, save: 8.26s)	[pipeline.py: 300]
-05/10 11:26:53 INFO: [Worker 0] [PROFILE] Episode 175 house 1 success=True episode_total=1.06s:
-  episode_total: mean=184.92s, total=369.84s, count=2, min=167797.1ms, max=202038.9ms
-  sensor_polling: mean=498.5ms, total=288.64s, count=579, min=416.6ms, max=862.6ms
-  physics_step: mean=24.8ms, total=14.34s, count=579, min=15.8ms, max=81.9ms
-  save_trajectories: mean=8.26s, total=8.26s, count=1, min=8257.0ms, max=8257.0ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4266.8ms, max=4266.8ms
-  task_sampling: mean=531.9ms, total=1.06s, count=2, min=431.6ms, max=632.2ms
-  task_specific_sample: mean=528.0ms, total=1.06s, count=2, min=427.3ms, max=628.8ms
-  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms
-  mj_forward_sync: mean=505.6us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:26:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:26:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:26:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:26:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:26:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:26:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:26:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:26:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:26:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042937m	[env.py: 870]
-05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:26:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84426868  1.06903067 -0.0429368 ] yaw=-138.8deg	[env.py: 1019]
-05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64929865  0.30007154 -0.0429368 ] yaw=178.3deg	[env.py: 1019]
-05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13799444  1.18115173 -0.0429368 ] yaw=-136.7deg	[env.py: 1019]
-05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:26:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=65.1ms, total=65.1ms	[env.py: 1075]
-05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.844, 1.069, -0.043)	[env.py: 1079]
-05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.8 deg	[env.py: 1082]
-05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m	[env.py: 1086]
-05/10 11:26:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:26:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:26:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:26:55 INFO: [Worker 0] Worker 0 house 1 episode 176/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:26:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:26:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:26:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:26:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:26:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.106s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:26:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.591[m] 82.187[deg]	[grasp_sample.py: 539]
-05/10 11:26:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:26:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:26:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:26:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:27:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:27:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:27:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:27:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:27:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:27:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:27:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:27:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:27:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:27:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:27:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:27:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:27:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:27:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:27:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:28:00 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.478s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:28:00 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.259[deg]	[grasp_sample.py: 539]
-05/10 11:28:00 ERROR: [Worker 0] Worker 0 house 1 episode 180 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 11:28:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:28:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:28:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:28:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:28:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:28:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:28:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:28:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:28:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034714m	[env.py: 870]
-05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:28:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81858659  0.30285567  0.03471391] yaw=164.6deg	[env.py: 1019]
-05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99349832  0.33667785  0.03471391] yaw=161.9deg	[env.py: 1019]
-05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:28:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=316.5ms, total=316.5ms	[env.py: 1075]
-05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.819, 0.303, 0.035)	[env.py: 1079]
-05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.6 deg	[env.py: 1082]
-05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
-05/10 11:28:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:28:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:28:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:28:03 INFO: [Worker 0] Worker 0 house 1 episode 181/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:28:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:28:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:28:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:28:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:28:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:28:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.429[m] 83.689[deg]	[grasp_sample.py: 539]
-05/10 11:28:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:28:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:28:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:28:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:28:07 INFO: [Worker 0] Worker 0 house 1 episode 169 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:28:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:28:32 INFO: [Worker 0] Saved videos eagerly for episode 123 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:28:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 11:28:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:28:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:28:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:28:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:28:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:28:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:28:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:28:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:28:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:28:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:28:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:28:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.30s (batch: 4.03s, save: 8.27s)	[pipeline.py: 300]
-05/10 11:28:45 INFO: [Worker 0] [PROFILE] Episode 169 house 1 success=True episode_total=0.46s:
-  episode_total: mean=195.68s, total=195.68s, count=1, min=195675.0ms, max=195675.0ms
-  sensor_polling: mean=484.9ms, total=145.48s, count=300, min=404.3ms, max=908.5ms
-  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8271.3ms, max=8271.3ms
-  physics_step: mean=23.9ms, total=7.17s, count=300, min=13.8ms, max=63.4ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4033.2ms, max=4033.2ms
-  task_sampling: mean=461.9ms, total=461.9ms, count=1, min=461.9ms, max=461.9ms
-  task_specific_sample: mean=458.1ms, total=458.1ms, count=1, min=458.1ms, max=458.1ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=419.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:28:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:28:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:28:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:28:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:28:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:28:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:28:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:28:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:28:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:28:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:28:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:28:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:28:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:28:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:28:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004655m	[env.py: 870]
-05/10 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:28:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0696489   0.96222831  0.00465479] yaw=-136.0deg	[env.py: 1019]
-05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87246007  0.99123187  0.00465479] yaw=-143.1deg	[env.py: 1019]
-05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:28:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=587.8ms, total=587.8ms	[env.py: 1075]
-05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.070, 0.962, 0.005)	[env.py: 1079]
-05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.0 deg	[env.py: 1082]
-05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.794m	[env.py: 1086]
-05/10 11:28:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:28:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:28:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:28:47 INFO: [Worker 0] Worker 0 house 1 episode 170/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:28:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:28:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:28:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:28:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:28:48 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.395s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:28:48 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.380[deg]	[grasp_sample.py: 539]
-05/10 11:28:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.857s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:28:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.378[m] 89.141[deg]	[grasp_sample.py: 539]
-05/10 11:28:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:28:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:28:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:28:49 ERROR: [Worker 0] Worker 0 house 1 episode 168 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 11:28:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:28:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:28:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:28:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:28:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:28:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:28:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045720m	[env.py: 870]
-05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:28:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9216122   0.51471038 -0.04572029] yaw=-175.2deg	[env.py: 1019]
-05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8815997   0.41212408 -0.04572029] yaw=172.3deg	[env.py: 1019]
-05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01867807  0.31680701 -0.04572029] yaw=163.3deg	[env.py: 1019]
-05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:28:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.2ms, retries=110.1ms, total=110.2ms	[env.py: 1075]
-05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.922, 0.515, -0.046)	[env.py: 1079]
-05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.2 deg	[env.py: 1082]
-05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.781m	[env.py: 1086]
-05/10 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:28:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:28:51 INFO: [Worker 0] Worker 0 house 1 episode 169/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:28:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:28:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:28:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:28:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:28:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.414s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:28:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.326[m] 85.553[deg]	[grasp_sample.py: 539]
-05/10 11:28:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:28:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:28:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:28:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:28:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:29:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:29:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:29:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:29:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:29:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:29:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:29:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:29:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:29:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:29:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:29:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:29:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:29:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:29:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:29:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:29:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:29:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:29:35 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.341s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:29:35 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.115[m] 2.706[deg]	[grasp_sample.py: 539]
-05/10 11:29:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:29:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:29:35 INFO: [Worker 0] Worker 0 house 1 episode 176 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:29:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:29:58 INFO: [Worker 0] Saved videos eagerly for episode 130 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:29:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 11:29:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:30:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:30:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:30:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.33s (batch: 4.08s, save: 9.25s)	[pipeline.py: 300]
-05/10 11:30:12 INFO: [Worker 0] [PROFILE] Episode 176 house 1 success=True episode_total=0.38s:
-  episode_total: mean=197.16s, total=197.16s, count=1, min=197160.4ms, max=197160.4ms
-  sensor_polling: mean=462.8ms, total=138.84s, count=300, min=393.4ms, max=833.6ms
-  save_trajectories: mean=9.25s, total=9.25s, count=1, min=9250.5ms, max=9250.5ms
-  physics_step: mean=22.1ms, total=6.64s, count=300, min=14.1ms, max=80.5ms
-  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4082.5ms, max=4082.5ms
-  task_sampling: mean=376.7ms, total=376.7ms, count=1, min=376.7ms, max=376.7ms
-  task_specific_sample: mean=373.2ms, total=373.2ms, count=1, min=373.2ms, max=373.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=393.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:30:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:30:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:30:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:30:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:30:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:30:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:30:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:30:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:30:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034431m	[env.py: 870]
-05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:30:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82766499  0.49673224 -0.03443088] yaw=-174.3deg	[env.py: 1019]
-05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04911179  1.13182794 -0.03443088] yaw=-133.9deg	[env.py: 1019]
-05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.93297676  0.56762604 -0.03443088] yaw=-172.8deg	[env.py: 1019]
-05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:30:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=509.6ms, total=509.6ms	[env.py: 1075]
-05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.828, 0.497, -0.034)	[env.py: 1079]
-05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.3 deg	[env.py: 1082]
-05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
-05/10 11:30:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:30:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:30:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:30:14 INFO: [Worker 0] Worker 0 house 1 episode 177/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:30:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:30:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:30:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:30:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:30:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.931s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:30:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.417[m] 85.167[deg]	[grasp_sample.py: 539]
-05/10 11:30:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:30:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:30:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:30:33 INFO: [Worker 0] Worker 0 house 1 episode 181 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:30:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:31:02 INFO: [Worker 0] Saved videos eagerly for episode 119 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:31:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 11:31:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:31:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:31:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:31:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:31:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:31:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:31:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.24s (batch: 4.10s, save: 8.13s)	[pipeline.py: 300]
-05/10 11:31:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:31:15 INFO: [Worker 0] [PROFILE] Episode 181 house 1 success=True episode_total=1.39s:
-  episode_total: mean=168.24s, total=336.48s, count=2, min=143121.1ms, max=193357.3ms
-  sensor_polling: mean=465.7ms, total=257.99s, count=554, min=387.0ms, max=905.9ms
-  physics_step: mean=22.3ms, total=12.36s, count=554, min=16.3ms, max=76.9ms
-  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8132.8ms, max=8132.8ms
-  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4103.0ms, max=4103.0ms
-  task_sampling: mean=695.5ms, total=1.39s, count=2, min=605.7ms, max=785.4ms
-  task_specific_sample: mean=692.1ms, total=1.38s, count=2, min=603.1ms, max=781.1ms
-  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.1ms, max=2.9ms
-  mj_forward_sync: mean=486.3us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=16.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:31:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:31:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:31:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:31:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:31:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:31:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:31:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:31:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028561m	[env.py: 870]
-05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:31:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97480772  0.69236098 -0.02856121] yaw=-168.9deg	[env.py: 1019]
-05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89904038  0.82830585 -0.02856121] yaw=-159.9deg	[env.py: 1019]
-05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68447551  0.30761348 -0.02856121] yaw=168.7deg	[env.py: 1019]
-05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:31:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=233.4ms, total=233.5ms	[env.py: 1075]
-05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.692, -0.029)	[env.py: 1079]
-05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.9 deg	[env.py: 1082]
-05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.757m	[env.py: 1086]
-05/10 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:31:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:31:18 INFO: [Worker 0] Worker 0 house 1 episode 182/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:31:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:31:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:31:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:31:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:31:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.179s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:31:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.289[m] 78.768[deg]	[grasp_sample.py: 539]
-05/10 11:31:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:31:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:31:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:31:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:31:20 INFO: [Worker 0] Worker 0 house 1 episode 169 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:31:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:31:22 INFO: [Worker 0] Worker 0 house 1 episode 170 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:31:45 INFO: [Worker 0] Saved videos eagerly for episode 124 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:31:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 11:31:45 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
-05/10 11:31:45 INFO: [Worker 0] Saved videos eagerly for episode 130 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:31:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 11:31:45 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
-05/10 11:31:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:31:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:31:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:31:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:31:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.28s (batch: 4.11s, save: 7.16s)	[pipeline.py: 300]
-05/10 11:31:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:31:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:31:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.55s (batch: 4.06s, save: 7.49s)	[pipeline.py: 300]
-05/10 11:31:56 INFO: [Worker 0] [PROFILE] Episode 169 house 1 success=True episode_total=1.68s:
-  episode_total: mean=171.42s, total=514.26s, count=3, min=160396.2ms, max=185942.2ms
-  sensor_polling: mean=477.0ms, total=411.63s, count=863, min=387.9ms, max=886.5ms
-  physics_step: mean=23.1ms, total=19.93s, count=863, min=13.6ms, max=88.9ms
-  save_trajectories: mean=7.16s, total=7.16s, count=1, min=7163.6ms, max=7163.6ms
-  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4112.0ms, max=4112.0ms
-  task_sampling: mean=558.5ms, total=1.68s, count=3, min=351.4ms, max=676.8ms
-  task_specific_sample: mean=553.9ms, total=1.66s, count=3, min=345.1ms, max=673.2ms
-  scene_randomize: mean=2.0ms, total=5.9ms, count=3, min=1.7ms, max=2.4ms
-  mj_forward_sync: mean=470.1us, total=1.4ms, count=3, min=0.4ms, max=0.7ms
-  policy_setup: mean=16.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:31:57 INFO: [Worker 0] [PROFILE] Episode 170 house 1 success=True episode_total=0.86s:
-  episode_total: mean=190.44s, total=190.44s, count=1, min=190436.7ms, max=190436.7ms
-  sensor_polling: mean=460.0ms, total=137.09s, count=298, min=396.7ms, max=977.3ms
-  save_trajectories: mean=7.49s, total=7.49s, count=1, min=7488.3ms, max=7488.3ms
-  physics_step: mean=21.3ms, total=6.34s, count=298, min=13.6ms, max=61.2ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4059.3ms, max=4059.3ms
-  task_sampling: mean=862.1ms, total=862.1ms, count=1, min=862.1ms, max=862.1ms
-  task_specific_sample: mean=858.3ms, total=858.3ms, count=1, min=858.3ms, max=858.3ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=443.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:31:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:31:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:31:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:31:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:31:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:31:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:31:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042407m	[env.py: 870]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:31:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.84306077  0.13187717 -0.04240732] yaw=147.1deg	[env.py: 1019]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:31:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=227.5ms, total=227.6ms	[env.py: 1075]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.132, -0.042)	[env.py: 1079]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.1 deg	[env.py: 1082]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
-05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:31:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:31:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:31:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:31:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:31:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:31:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:31:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015538m	[env.py: 870]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:31:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.23903898  1.01464666  0.01553768] yaw=-126.5deg	[env.py: 1019]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05638572  1.25813447  0.01553768] yaw=-127.1deg	[env.py: 1019]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:31:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:31:58 INFO: [Worker 0] Worker 0 house 1 episode 170/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76932876  0.75584075  0.01553768] yaw=-169.2deg	[env.py: 1019]
-05/10 11:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:31:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=228.3ms, total=228.3ms	[env.py: 1075]
-05/10 11:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.239, 1.015, 0.016)	[env.py: 1079]
-05/10 11:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.5 deg	[env.py: 1082]
-05/10 11:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.706m	[env.py: 1086]
-05/10 11:31:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:31:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:31:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:31:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:31:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:31:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:31:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:31:59 INFO: [Worker 0] Worker 0 house 1 episode 171/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:31:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:31:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:31:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:31:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:31:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:31:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.499[m] 90.846[deg]	[grasp_sample.py: 539]
-05/10 11:31:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:31:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:31:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:31:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.286[m] 91.821[deg]	[grasp_sample.py: 539]
-05/10 11:31:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:32:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:32:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:32:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:32:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:32:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:32:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:32:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:32:51 INFO: [Worker 0] Worker 0 house 1 episode 177 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:32:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:33:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:33:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:33:16 INFO: [Worker 0] Saved videos eagerly for episode 131 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:33:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 11:33:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:33:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:33:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:33:31 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.71s (batch: 4.90s, save: 9.81s)	[pipeline.py: 300]
-05/10 11:33:32 INFO: [Worker 0] [PROFILE] Episode 177 house 1 success=True episode_total=0.86s:
-  episode_total: mean=198.21s, total=198.21s, count=1, min=198208.9ms, max=198208.9ms
-  sensor_polling: mean=477.3ms, total=143.20s, count=300, min=392.6ms, max=988.5ms
-  save_trajectories: mean=9.81s, total=9.81s, count=1, min=9810.7ms, max=9810.7ms
-  physics_step: mean=21.9ms, total=6.58s, count=300, min=16.9ms, max=48.1ms
-  save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4901.7ms, max=4901.7ms
-  task_sampling: mean=863.6ms, total=863.6ms, count=1, min=863.6ms, max=863.6ms
-  task_specific_sample: mean=859.8ms, total=859.8ms, count=1, min=859.8ms, max=859.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=475.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:33:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:33:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:33:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:33:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:33:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:33:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:33:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:33:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:33:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:33:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:33:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024055m	[env.py: 870]
-05/10 11:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:33:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03878109  0.24141728 -0.02405509] yaw=168.4deg	[env.py: 1019]
-05/10 11:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09193433  0.87887751 -0.02405509] yaw=-145.4deg	[env.py: 1019]
-05/10 11:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73756173  0.93338721 -0.02405509] yaw=-158.2deg	[env.py: 1019]
-05/10 11:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:33:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.1ms, total=158.2ms	[env.py: 1075]
-05/10 11:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.039, 0.241, -0.024)	[env.py: 1079]
-05/10 11:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.4 deg	[env.py: 1082]
-05/10 11:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.706m	[env.py: 1086]
-05/10 11:33:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:33:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:33:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:33:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:33:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:33:34 INFO: [Worker 0] Worker 0 house 1 episode 178/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:33:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:33:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:33:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:33:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:33:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.542s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:33:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.340[m] 103.984[deg]	[grasp_sample.py: 539]
-05/10 11:33:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:33:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:33:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:33:43 INFO: [Worker 0] Worker 0 house 1 episode 182 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:34:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:34:04 INFO: [Worker 0] Saved videos eagerly for episode 120 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:34:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 11:34:04 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
-05/10 11:34:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:34:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:34:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:34:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:34:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:34:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:34:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:34:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:34:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:34:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:34:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:34:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:34:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:34:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:34:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:34:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.03s (batch: 3.82s, save: 7.21s)	[pipeline.py: 300]
-05/10 11:34:15 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.479s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:34:16 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.314[deg]	[grasp_sample.py: 539]
-05/10 11:34:16 INFO: [Worker 0] [PROFILE] Episode 182 house 1 success=True episode_total=0.51s:
-  episode_total: mean=178.87s, total=178.87s, count=1, min=178874.3ms, max=178874.3ms
-  sensor_polling: mean=481.4ms, total=133.84s, count=278, min=398.1ms, max=833.7ms
-  save_trajectories: mean=7.21s, total=7.21s, count=1, min=7214.1ms, max=7214.1ms
-  physics_step: mean=22.6ms, total=6.29s, count=278, min=16.7ms, max=61.7ms
-  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3816.3ms, max=3816.3ms
-  task_sampling: mean=515.0ms, total=515.0ms, count=1, min=515.0ms, max=515.0ms
-  task_specific_sample: mean=510.7ms, total=510.7ms, count=1, min=510.7ms, max=510.7ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=551.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:34:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:34:17 ERROR: [Worker 0] Worker 0 house 1 episode 171 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 11:34:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:34:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:34:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:34:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:34:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:34:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:34:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:34:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:34:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036287m	[env.py: 870]
-05/10 11:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:34:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91467885  0.16948795 -0.03628662] yaw=161.7deg	[env.py: 1019]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.15403688  1.16679046 -0.03628662] yaw=-128.5deg	[env.py: 1019]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87119537  0.47251278 -0.03628662] yaw=179.9deg	[env.py: 1019]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:34:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.1ms, total=91.1ms	[env.py: 1075]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.169, -0.036)	[env.py: 1079]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.7 deg	[env.py: 1082]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
-05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:34:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:34:18 INFO: [Worker 0] Worker 0 house 1 episode 183/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:34:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:34:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:34:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:34:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:34:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:34:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:34:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:34:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:34:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:34:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:34:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038370m	[env.py: 870]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:34:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93425811  0.59415904  0.03837034] yaw=-170.8deg	[env.py: 1019]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98918489  0.89488415  0.03837034] yaw=-145.7deg	[env.py: 1019]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.99120927  0.54081699  0.03837034] yaw=-171.1deg	[env.py: 1019]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:34:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.0ms, total=134.0ms	[env.py: 1075]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.934, 0.594, 0.038)	[env.py: 1079]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.8 deg	[env.py: 1082]
-05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m	[env.py: 1086]
-05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:34:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:34:19 INFO: [Worker 0] Worker 0 house 1 episode 172/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:34:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.545s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:34:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.383[m] 88.778[deg]	[grasp_sample.py: 539]
-05/10 11:34:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:34:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:34:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:34:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:34:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:34:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.418s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:34:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.330[m] 88.037[deg]	[grasp_sample.py: 539]
-05/10 11:34:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:34:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:34:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:34:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:34:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:34:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:34:32 INFO: [Worker 0] Worker 0 house 1 episode 170 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:34:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:34:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:34:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:34:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:34:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:34:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:34:53 INFO: [Worker 0] Saved videos eagerly for episode 131 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:34:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 11:34:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:34:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:34:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:35:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:35:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:35:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:35:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:35:06 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.81s (batch: 4.35s, save: 8.45s)	[pipeline.py: 300]
-05/10 11:35:07 INFO: [Worker 0] [PROFILE] Episode 170 house 1 success=True episode_total=0.52s:
-  episode_total: mean=188.96s, total=188.96s, count=1, min=188957.0ms, max=188957.0ms
-  sensor_polling: mean=474.1ms, total=142.22s, count=300, min=394.7ms, max=892.1ms
-  save_trajectories: mean=8.45s, total=8.45s, count=1, min=8452.9ms, max=8452.9ms
-  physics_step: mean=23.4ms, total=7.03s, count=300, min=13.9ms, max=42.1ms
-  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4354.1ms, max=4354.1ms
-  task_sampling: mean=517.9ms, total=517.9ms, count=1, min=517.9ms, max=517.9ms
-  task_specific_sample: mean=514.2ms, total=514.2ms, count=1, min=514.2ms, max=514.2ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=381.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:35:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:35:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:35:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:35:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:35:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:35:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:35:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:35:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:35:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:35:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:35:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:35:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027284m	[env.py: 870]
-05/10 11:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:35:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6029391   0.46806032  0.02728392] yaw=184.0deg	[env.py: 1019]
-05/10 11:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:35:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=180.3ms, total=180.3ms	[env.py: 1075]
-05/10 11:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.603, 0.468, 0.027)	[env.py: 1079]
-05/10 11:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.0 deg	[env.py: 1082]
-05/10 11:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
-05/10 11:35:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:35:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:35:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:35:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:35:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:35:09 INFO: [Worker 0] Worker 0 house 1 episode 171/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:35:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:35:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:35:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:35:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:35:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.923s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:35:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.693[m] 95.595[deg]	[grasp_sample.py: 539]
-05/10 11:35:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:35:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:35:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:35:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:35:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:35:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:35:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:35:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:35:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:35:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:35:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:35:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:35:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:35:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:35:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:35:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:35:42 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.468s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:35:42 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.564[deg]	[grasp_sample.py: 539]
-05/10 11:35:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:35:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:35:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:35:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:35:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:36:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:36:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:36:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:36:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:36:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:36:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:36:42 INFO: [Worker 0] Worker 0 house 1 episode 172 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:36:44 INFO: [Worker 0] Worker 0 house 1 episode 178 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:36:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:36:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:36:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:36:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:36:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:36:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:36:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:37:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:37:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:37:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:37:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:37:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:37:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:37:03 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.917s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:37:03 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.627[deg]	[grasp_sample.py: 539]
-05/10 11:37:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:37:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:37:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:37:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:37:10 INFO: [Worker 0] Saved videos eagerly for episode 125 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:37:10 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 11:37:10 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
-05/10 11:37:13 INFO: [Worker 0] Saved videos eagerly for episode 132 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:37:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 11:37:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:37:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:37:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:37:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:37:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.58s (batch: 4.01s, save: 7.57s)	[pipeline.py: 300]
-05/10 11:37:22 INFO: [Worker 0] [PROFILE] Episode 172 house 1 success=True episode_total=0.86s:
-  episode_total: mean=161.15s, total=322.30s, count=2, min=138304.6ms, max=183992.6ms
-  sensor_polling: mean=467.9ms, total=249.86s, count=534, min=386.0ms, max=922.5ms
-  physics_step: mean=21.6ms, total=11.55s, count=534, min=13.4ms, max=51.6ms
-  save_trajectories: mean=7.57s, total=7.57s, count=1, min=7572.6ms, max=7572.6ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4008.1ms, max=4008.1ms
-  task_sampling: mean=430.6ms, total=861.1ms, count=2, min=375.6ms, max=485.6ms
-  task_specific_sample: mean=427.0ms, total=854.1ms, count=2, min=372.7ms, max=481.3ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.2ms, max=2.8ms
-  mj_forward_sync: mean=465.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=14.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:37:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:37:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:37:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:37:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:37:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:37:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:37:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:37:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:37:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:37:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004603m	[env.py: 870]
-05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:37:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65297392  0.5392023   0.00460342] yaw=-172.0deg	[env.py: 1019]
-05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11925897  1.19206017  0.00460342] yaw=-118.3deg	[env.py: 1019]
-05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75983917  0.5711893   0.00460342] yaw=-184.1deg	[env.py: 1019]
-05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:37:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.8ms, total=84.8ms	[env.py: 1075]
-05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.653, 0.539, 0.005)	[env.py: 1079]
-05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.0 deg	[env.py: 1082]
-05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m	[env.py: 1086]
-05/10 11:37:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:37:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:37:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:37:24 INFO: [Worker 0] Worker 0 house 1 episode 173/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:37:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:37:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:37:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:37:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:37:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.579s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:37:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.632[m] 95.859[deg]	[grasp_sample.py: 539]
-05/10 11:37:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:37:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:37:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:37:25 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.47s (batch: 4.12s, save: 8.35s)	[pipeline.py: 300]
-05/10 11:37:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:37:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:37:26 INFO: [Worker 0] [PROFILE] Episode 178 house 1 success=True episode_total=0.42s:
-  episode_total: mean=232.68s, total=232.68s, count=1, min=232676.7ms, max=232676.7ms
-  sensor_polling: mean=466.6ms, total=139.99s, count=300, min=395.0ms, max=856.7ms
-  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8348.0ms, max=8348.0ms
-  physics_step: mean=22.5ms, total=6.75s, count=300, min=12.4ms, max=48.3ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4119.1ms, max=4119.1ms
-  task_sampling: mean=422.6ms, total=422.6ms, count=1, min=422.6ms, max=422.6ms
-  task_specific_sample: mean=419.2ms, total=419.2ms, count=1, min=419.2ms, max=419.2ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=389.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:37:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:37:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:37:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:37:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:37:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:37:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:37:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:37:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:37:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011871m	[env.py: 870]
-05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:37:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86221068  0.03726262 -0.01187061] yaw=150.5deg	[env.py: 1019]
-05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77727213  0.51328853 -0.01187061] yaw=-172.5deg	[env.py: 1019]
-05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70019894  0.49083904 -0.01187061] yaw=-190.6deg	[env.py: 1019]
-05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:37:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=64.9ms, total=64.9ms	[env.py: 1075]
-05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.862, 0.037, -0.012)	[env.py: 1079]
-05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.5 deg	[env.py: 1082]
-05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
-05/10 11:37:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:37:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:37:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:37:28 INFO: [Worker 0] Worker 0 house 1 episode 179/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:37:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:37:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:37:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:37:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:37:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.642s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:37:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.507[m] 95.012[deg]	[grasp_sample.py: 539]
-05/10 11:37:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:37:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:37:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:37:30 INFO: [Worker 0] Worker 0 house 1 episode 183 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:37:51 INFO: [Worker 0] Worker 0 house 1 episode 171 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:37:55 INFO: [Worker 0] Saved videos eagerly for episode 121 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:37:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 11:37:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:38:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:38:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:38:08 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.19s (batch: 4.05s, save: 9.14s)	[pipeline.py: 300]
-05/10 11:38:09 INFO: [Worker 0] [PROFILE] Episode 183 house 1 success=True episode_total=0.44s:
-  episode_total: mean=231.59s, total=231.59s, count=1, min=231589.7ms, max=231589.7ms
-  sensor_polling: mean=461.1ms, total=138.33s, count=300, min=390.9ms, max=846.4ms
-  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9138.0ms, max=9138.0ms
-  physics_step: mean=22.3ms, total=6.70s, count=300, min=14.3ms, max=65.0ms
-  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4048.9ms, max=4048.9ms
-  task_sampling: mean=435.3ms, total=435.3ms, count=1, min=435.3ms, max=435.3ms
-  task_specific_sample: mean=431.6ms, total=431.6ms, count=1, min=431.6ms, max=431.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=387.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:38:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:38:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:38:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:38:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:38:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:38:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:38:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:38:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:38:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031364m	[env.py: 870]
-05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:38:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94198106  0.13650354  0.03136356] yaw=156.6deg	[env.py: 1019]
-05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75216687  0.49183486  0.03136356] yaw=-173.0deg	[env.py: 1019]
-05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74231949  0.59573688  0.03136356] yaw=-174.1deg	[env.py: 1019]
-05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:38:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=274.2ms, total=274.2ms	[env.py: 1075]
-05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.137, 0.031)	[env.py: 1079]
-05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.6 deg	[env.py: 1082]
-05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
-05/10 11:38:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:38:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:38:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:38:12 INFO: [Worker 0] Worker 0 house 1 episode 184/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:38:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:38:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:38:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:38:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:38:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.795s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:38:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.425[m] 98.352[deg]	[grasp_sample.py: 539]
-05/10 11:38:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:38:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:38:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:38:15 INFO: [Worker 0] Saved videos eagerly for episode 132 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:38:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 11:38:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:38:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:38:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:38:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:38:26 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.58s (batch: 4.14s, save: 7.44s)	[pipeline.py: 300]
-05/10 11:38:27 INFO: [Worker 0] [PROFILE] Episode 171 house 1 success=True episode_total=0.43s:
-  episode_total: mean=198.56s, total=198.56s, count=1, min=198560.8ms, max=198560.8ms
-  sensor_polling: mean=467.4ms, total=140.21s, count=300, min=386.1ms, max=835.3ms
-  save_trajectories: mean=7.44s, total=7.44s, count=1, min=7438.2ms, max=7438.2ms
-  physics_step: mean=21.4ms, total=6.42s, count=300, min=14.0ms, max=38.6ms
-  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4141.2ms, max=4141.2ms
-  task_sampling: mean=434.8ms, total=434.8ms, count=1, min=434.8ms, max=434.8ms
-  task_specific_sample: mean=431.5ms, total=431.5ms, count=1, min=431.5ms, max=431.5ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=378.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:38:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:38:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:38:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:38:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:38:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:38:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:38:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:38:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:38:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:38:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:38:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014818m	[env.py: 870]
-05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:38:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71121928  0.75755037 -0.01481794] yaw=-158.1deg	[env.py: 1019]
-05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.14770122  1.13615808 -0.01481794] yaw=-124.4deg	[env.py: 1019]
-05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:38:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=250.9ms, total=250.9ms	[env.py: 1075]
-05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.711, 0.758, -0.015)	[env.py: 1079]
-05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg	[env.py: 1082]
-05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
-05/10 11:38:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:38:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:38:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:38:29 INFO: [Worker 0] Worker 0 house 1 episode 172/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:38:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:38:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:38:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:38:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:38:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.317s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:38:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.547[m] 78.165[deg]	[grasp_sample.py: 539]
-05/10 11:38:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:38:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:38:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:38:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:38:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:38:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:38:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:39:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:39:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:39:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:39:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:39:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:39:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:39:57 INFO: [Worker 0] Worker 0 house 1 episode 173 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:39:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:39:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:40:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:40:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:40:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:40:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:40:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:40:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:40:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:40:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:40:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:40:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:40:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.361s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:40:06 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.108[deg]	[grasp_sample.py: 539]
-05/10 11:40:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:40:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:40:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:40:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:40:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:40:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:40:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:40:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:40:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:40:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:40:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:40:20 INFO: [Worker 0] Saved videos eagerly for episode 126 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:40:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 11:40:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:40:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:40:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:40:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:40:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:40:26 INFO: [Worker 0] Worker 0 house 1 episode 179 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:40:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:40:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:40:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:40:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.42s (batch: 4.30s, save: 8.11s)	[pipeline.py: 300]
-05/10 11:40:33 INFO: [Worker 0] [PROFILE] Episode 173 house 1 success=True episode_total=0.35s:
-  episode_total: mean=189.47s, total=189.47s, count=1, min=189466.8ms, max=189466.8ms
-  sensor_polling: mean=470.9ms, total=141.28s, count=300, min=396.9ms, max=842.9ms
-  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8113.3ms, max=8113.3ms
-  physics_step: mean=21.0ms, total=6.30s, count=300, min=13.4ms, max=59.8ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4301.8ms, max=4301.8ms
-  task_sampling: mean=353.8ms, total=353.8ms, count=1, min=353.8ms, max=353.8ms
-  task_specific_sample: mean=349.9ms, total=349.9ms, count=1, min=349.9ms, max=349.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=465.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:40:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:40:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:40:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:40:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:40:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:40:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:40:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:40:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:40:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041837m	[env.py: 870]
-05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:40:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86209069  0.09016638 -0.0418375 ] yaw=151.5deg	[env.py: 1019]
-05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68849531  0.5803259  -0.0418375 ] yaw=-169.2deg	[env.py: 1019]
-05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98143424  0.42126969 -0.0418375 ] yaw=180.7deg	[env.py: 1019]
-05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:40:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.8ms, total=131.8ms	[env.py: 1075]
-05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.862, 0.090, -0.042)	[env.py: 1079]
-05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.5 deg	[env.py: 1082]
-05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m	[env.py: 1086]
-05/10 11:40:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:40:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:40:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:40:35 INFO: [Worker 0] Worker 0 house 1 episode 174/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:40:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:40:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:40:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:40:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:40:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.593s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:40:36 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.498[m] 94.771[deg]	[grasp_sample.py: 539]
-05/10 11:40:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:40:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:40:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:40:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:40:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:40:49 INFO: [Worker 0] Saved videos eagerly for episode 133 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:40:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 11:40:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:40:59 INFO: [Worker 0] Worker 0 house 1 episode 172 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:41:01 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 11:41:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:41:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:41:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:41:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 70 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:41:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:41:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:41:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.38s (batch: 5.46s, save: 7.92s)	[pipeline.py: 300]
-05/10 11:41:03 INFO: [Worker 0] [PROFILE] Episode 179 house 1 success=True episode_total=0.32s:
-  episode_total: mean=215.06s, total=215.06s, count=1, min=215061.2ms, max=215061.2ms
-  sensor_polling: mean=470.3ms, total=141.08s, count=300, min=395.0ms, max=768.5ms
-  save_trajectories: mean=7.92s, total=7.92s, count=1, min=7922.6ms, max=7922.6ms
-  physics_step: mean=22.7ms, total=6.82s, count=300, min=14.1ms, max=68.5ms
-  save_batch_prep: mean=5.46s, total=5.46s, count=1, min=5461.5ms, max=5461.5ms
-  task_sampling: mean=315.2ms, total=315.2ms, count=1, min=315.2ms, max=315.2ms
-  task_specific_sample: mean=311.8ms, total=311.8ms, count=1, min=311.8ms, max=311.8ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=375.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:41:03 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.524s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:41:03 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.046[m] 6.521[deg]	[grasp_sample.py: 539]
-05/10 11:41:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:41:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:41:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:41:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:41:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:41:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:41:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:41:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:41:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:41:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041558m	[env.py: 870]
-05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:41:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96710383  0.40901696 -0.04155766] yaw=174.9deg	[env.py: 1019]
-05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.11632608  1.00627003 -0.04155766] yaw=-146.9deg	[env.py: 1019]
-05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81550085  0.71934095 -0.04155766] yaw=-169.8deg	[env.py: 1019]
-05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:41:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.5ms, total=117.5ms	[env.py: 1075]
-05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.967, 0.409, -0.042)	[env.py: 1079]
-05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.9 deg	[env.py: 1082]
-05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.739m	[env.py: 1086]
-05/10 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:41:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:41:05 INFO: [Worker 0] Worker 0 house 1 episode 180/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:41:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:41:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:41:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:41:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:41:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.398s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:41:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.284[m] 87.964[deg]	[grasp_sample.py: 539]
-05/10 11:41:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:41:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:41:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:41:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:41:16 INFO: [Worker 0] Worker 0 house 1 episode 184 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:41:18 INFO: [Worker 0] Saved videos eagerly for episode 133 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:41:18 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 11:41:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:41:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:41:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:41:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:41:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.58s (batch: 3.81s, save: 7.78s)	[pipeline.py: 300]
-05/10 11:41:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:41:31 INFO: [Worker 0] [PROFILE] Episode 172 house 1 success=True episode_total=0.52s:
-  episode_total: mean=182.20s, total=182.20s, count=1, min=182195.8ms, max=182195.8ms
-  sensor_polling: mean=461.6ms, total=138.48s, count=300, min=368.3ms, max=930.0ms
-  save_trajectories: mean=7.78s, total=7.78s, count=1, min=7777.8ms, max=7777.8ms
-  physics_step: mean=21.3ms, total=6.40s, count=300, min=16.5ms, max=52.9ms
-  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3806.9ms, max=3806.9ms
-  task_sampling: mean=521.5ms, total=521.5ms, count=1, min=521.5ms, max=521.5ms
-  task_specific_sample: mean=518.1ms, total=518.1ms, count=1, min=518.1ms, max=518.1ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=381.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=25.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:41:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:41:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:41:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:41:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:41:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:41:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:41:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:41:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:41:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:41:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:41:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035399m	[env.py: 870]
-05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:41:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95236112  0.18593884 -0.03539872] yaw=150.6deg	[env.py: 1019]
-05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68229588  0.84873399 -0.03539872] yaw=-161.2deg	[env.py: 1019]
-05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:41:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=147.0ms, total=147.0ms	[env.py: 1075]
-05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.952, 0.186, -0.035)	[env.py: 1079]
-05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.6 deg	[env.py: 1082]
-05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
-05/10 11:41:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:41:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:41:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:41:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:41:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:41:33 INFO: [Worker 0] Worker 0 house 1 episode 173/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:41:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:41:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:41:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:41:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:41:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:41:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.479s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:41:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.326[m] 79.141[deg]	[grasp_sample.py: 539]
-05/10 11:41:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:41:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:41:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:41:37 INFO: [Worker 0] Saved videos eagerly for episode 122 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:41:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 11:41:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:41:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:41:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:41:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:41:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:41:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:41:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.60s (batch: 4.07s, save: 9.53s)	[pipeline.py: 300]
-05/10 11:41:52 INFO: [Worker 0] [PROFILE] Episode 184 house 1 success=True episode_total=0.64s:
-  episode_total: mean=220.73s, total=220.73s, count=1, min=220729.1ms, max=220729.1ms
-  sensor_polling: mean=469.8ms, total=140.95s, count=300, min=394.1ms, max=871.0ms
-  save_trajectories: mean=9.53s, total=9.53s, count=1, min=9532.4ms, max=9532.4ms
-  physics_step: mean=22.4ms, total=6.72s, count=300, min=11.8ms, max=73.6ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4069.0ms, max=4069.0ms
-  task_sampling: mean=636.5ms, total=636.5ms, count=1, min=636.5ms, max=636.5ms
-  task_specific_sample: mean=631.1ms, total=631.1ms, count=1, min=631.1ms, max=631.1ms
-  scene_randomize: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
-  mj_forward_sync: mean=654.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:41:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:41:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:41:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:41:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:41:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:41:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:41:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:41:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:41:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014362m	[env.py: 870]
-05/10 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:41:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87500158  0.8499357   0.01436196] yaw=-165.4deg	[env.py: 1019]
-05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00182663  0.67557245  0.01436196] yaw=-162.1deg	[env.py: 1019]
-05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80399874  0.14136329  0.01436196] yaw=168.6deg	[env.py: 1019]
-05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:41:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.2ms, total=139.3ms	[env.py: 1075]
-05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.875, 0.850, 0.014)	[env.py: 1079]
-05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.4 deg	[env.py: 1082]
-05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m	[env.py: 1086]
-05/10 11:41:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:41:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:41:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:41:54 INFO: [Worker 0] Worker 0 house 1 episode 185/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:41:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:41:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:41:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:41:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:41:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.532s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:41:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.480[m] 91.314[deg]	[grasp_sample.py: 539]
-05/10 11:41:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:41:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:41:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:42:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:42:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:42:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:42:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:42:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:42:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:43:11 INFO: [Worker 0] Worker 0 house 1 episode 174 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:43:31 INFO: [Worker 0] Worker 0 house 1 episode 180 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:43:37 INFO: [Worker 0] Saved videos eagerly for episode 127 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:43:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 11:43:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:43:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:43:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:43:50 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.53s (batch: 3.83s, save: 9.71s)	[pipeline.py: 300]
-05/10 11:43:51 INFO: [Worker 0] [PROFILE] Episode 174 house 1 success=True episode_total=0.42s:
-  episode_total: mean=196.05s, total=196.05s, count=1, min=196049.7ms, max=196049.7ms
-  sensor_polling: mean=480.9ms, total=144.26s, count=300, min=399.1ms, max=1031.5ms
-  save_trajectories: mean=9.71s, total=9.71s, count=1, min=9707.0ms, max=9707.0ms
-  physics_step: mean=22.7ms, total=6.82s, count=300, min=16.5ms, max=121.0ms
-  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3827.7ms, max=3827.7ms
-  task_sampling: mean=415.9ms, total=415.9ms, count=1, min=415.9ms, max=415.9ms
-  task_specific_sample: mean=411.8ms, total=411.8ms, count=1, min=411.8ms, max=411.8ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=531.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:43:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:43:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:43:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:43:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:43:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:43:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:43:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:43:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014529m	[env.py: 870]
-05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:43:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.10598298  1.12610924  0.01452945] yaw=-135.4deg	[env.py: 1019]
-05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98162375  0.49763876  0.01452945] yaw=-188.3deg	[env.py: 1019]
-05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84817241  0.25158638  0.01452945] yaw=168.0deg	[env.py: 1019]
-05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:43:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.3ms, total=104.3ms	[env.py: 1075]
-05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.106, 1.126, 0.015)	[env.py: 1079]
-05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.4 deg	[env.py: 1082]
-05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
-05/10 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:43:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:43:53 INFO: [Worker 0] Worker 0 house 1 episode 175/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:43:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:43:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:43:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:43:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:43:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:43:54 INFO: [Worker 0] Saved videos eagerly for episode 134 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:43:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 11:43:54 INFO: [Worker 0] Preparing episode data: 278 timesteps	[save_utils.py: 278]
-05/10 11:43:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.442s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:43:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.444[m] 91.015[deg]	[grasp_sample.py: 539]
-05/10 11:43:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:43:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:43:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:43:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:43:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:43:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:44:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:44:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:44:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:44:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:44:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:44:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:44:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:44:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:44:04 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.412s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:44:04 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.533[deg]	[grasp_sample.py: 539]
-05/10 11:44:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:44:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:44:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:44:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:44:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:44:06 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.00s (batch: 4.11s, save: 7.89s)	[pipeline.py: 300]
-05/10 11:44:07 INFO: [Worker 0] [PROFILE] Episode 180 house 1 success=True episode_total=0.38s:
-  episode_total: mean=182.79s, total=182.79s, count=1, min=182791.7ms, max=182791.7ms
-  sensor_polling: mean=483.8ms, total=134.00s, count=277, min=393.5ms, max=1088.2ms
-  save_trajectories: mean=7.89s, total=7.89s, count=1, min=7891.2ms, max=7891.2ms
-  physics_step: mean=24.5ms, total=6.78s, count=277, min=15.3ms, max=75.3ms
-  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4113.0ms, max=4113.0ms
-  task_sampling: mean=375.0ms, total=375.0ms, count=1, min=375.0ms, max=375.0ms
-  task_specific_sample: mean=371.6ms, total=371.6ms, count=1, min=371.6ms, max=371.6ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=388.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:44:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:44:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:44:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:44:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:44:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:44:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:44:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:44:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:44:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039094m	[env.py: 870]
-05/10 11:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:44:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77772172  1.05005978  0.03909379] yaw=-139.1deg	[env.py: 1019]
-05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02878462  1.17602229  0.03909379] yaw=-133.5deg	[env.py: 1019]
-05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95756835  0.92717564  0.03909379] yaw=-154.4deg	[env.py: 1019]
-05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:44:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.4ms, total=92.4ms	[env.py: 1075]
-05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.778, 1.050, 0.039)	[env.py: 1079]
-05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.1 deg	[env.py: 1082]
-05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
-05/10 11:44:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:44:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:44:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:44:09 INFO: [Worker 0] Worker 0 house 1 episode 181/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:44:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:44:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:44:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:44:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:44:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:44:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.600s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:44:12 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.665[m] 80.734[deg]	[grasp_sample.py: 539]
-05/10 11:44:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:44:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:44:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:44:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:44:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:44:28 INFO: [Worker 0] Worker 0 house 1 episode 185 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:44:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:44:46 INFO: [Worker 0] Worker 0 house 1 episode 173 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:44:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:44:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:44:52 INFO: [Worker 0] Saved videos eagerly for episode 123 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:44:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 11:44:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:45:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:45:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:45:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.92s (batch: 3.95s, save: 7.97s)	[pipeline.py: 300]
-05/10 11:45:05 INFO: [Worker 0] [PROFILE] Episode 185 house 1 success=True episode_total=0.45s:
-  episode_total: mean=191.17s, total=191.17s, count=1, min=191169.0ms, max=191169.0ms
-  sensor_polling: mean=479.3ms, total=143.79s, count=300, min=382.3ms, max=898.9ms
-  save_trajectories: mean=7.97s, total=7.97s, count=1, min=7970.1ms, max=7970.1ms
-  physics_step: mean=22.3ms, total=6.68s, count=300, min=13.6ms, max=71.3ms
-  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3945.1ms, max=3945.1ms
-  task_sampling: mean=447.3ms, total=447.3ms, count=1, min=447.3ms, max=447.3ms
-  task_specific_sample: mean=443.4ms, total=443.4ms, count=1, min=443.4ms, max=443.4ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=443.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:45:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:45:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:45:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:45:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:45:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:45:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:45:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:45:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:45:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:45:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:45:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020622m	[env.py: 870]
-05/10 11:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:45:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03963558  0.75749019 -0.02062221] yaw=-165.3deg	[env.py: 1019]
-05/10 11:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7857344   0.1377666  -0.02062221] yaw=157.9deg	[env.py: 1019]
-05/10 11:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:45:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.1ms, total=205.1ms	[env.py: 1075]
-05/10 11:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.040, 0.757, -0.021)	[env.py: 1079]
-05/10 11:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.3 deg	[env.py: 1082]
-05/10 11:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.718m	[env.py: 1086]
-05/10 11:45:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:45:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:45:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:45:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:45:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:45:07 INFO: [Worker 0] Worker 0 house 1 episode 186/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:45:07 INFO: [Worker 0] Saved videos eagerly for episode 134 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:45:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 11:45:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:45:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:45:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:45:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:45:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:45:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.493s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:45:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.315[m] 87.275[deg]	[grasp_sample.py: 539]
-05/10 11:45:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:45:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:45:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:45:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:45:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:45:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:45:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.20s (batch: 4.09s, save: 8.11s)	[pipeline.py: 300]
-05/10 11:45:20 INFO: [Worker 0] [PROFILE] Episode 173 house 1 success=True episode_total=0.41s:
-  episode_total: mean=227.31s, total=227.31s, count=1, min=227307.3ms, max=227307.3ms
-  sensor_polling: mean=484.2ms, total=145.25s, count=300, min=396.6ms, max=1043.6ms
-  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8112.9ms, max=8112.9ms
-  physics_step: mean=23.8ms, total=7.13s, count=300, min=13.2ms, max=61.1ms
-  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4085.8ms, max=4085.8ms
-  task_sampling: mean=410.2ms, total=410.2ms, count=1, min=410.2ms, max=410.2ms
-  task_specific_sample: mean=406.8ms, total=406.8ms, count=1, min=406.8ms, max=406.8ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=390.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:45:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:45:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:45:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:45:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:45:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:45:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:45:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:45:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:45:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:45:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:45:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043819m	[env.py: 870]
-05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:45:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69877391  0.41640752  0.0438195 ] yaw=168.5deg	[env.py: 1019]
-05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91608887  0.89157776  0.0438195 ] yaw=-149.8deg	[env.py: 1019]
-05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74766186  0.66189176  0.0438195 ] yaw=-164.0deg	[env.py: 1019]
-05/10 11:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:45:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=221.6ms, total=221.7ms	[env.py: 1075]
-05/10 11:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.699, 0.416, 0.044)	[env.py: 1079]
-05/10 11:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.5 deg	[env.py: 1082]
-05/10 11:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
-05/10 11:45:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:45:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:45:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:45:22 INFO: [Worker 0] Worker 0 house 1 episode 174/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:45:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:45:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:45:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:45:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:45:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:45:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.497s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:45:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.558[m] 88.777[deg]	[grasp_sample.py: 539]
-05/10 11:45:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:45:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:45:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:45:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:45:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:45:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:45:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:45:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:45:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:45:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:45:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:46:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:46:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:46:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:46:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:46:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:46:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:46:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:46:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:46:07 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.939s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:46:07 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.262[deg]	[grasp_sample.py: 539]
-05/10 11:46:08 ERROR: [Worker 0] Worker 0 house 1 episode 175 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 11:46:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:46:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:46:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:46:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:46:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:46:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:46:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:46:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:46:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013105m	[env.py: 870]
-05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:46:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93265893  0.63806705 -0.01310529] yaw=-175.7deg	[env.py: 1019]
-05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76701323  0.20377427 -0.01310529] yaw=171.3deg	[env.py: 1019]
-05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.60380682  0.45624723 -0.01310529] yaw=185.8deg	[env.py: 1019]
-05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:46:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.4ms, total=121.4ms	[env.py: 1075]
-05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.933, 0.638, -0.013)	[env.py: 1079]
-05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.7 deg	[env.py: 1082]
-05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.785m	[env.py: 1086]
-05/10 11:46:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:46:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:46:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:46:10 INFO: [Worker 0] Worker 0 house 1 episode 176/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:46:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:46:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:46:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:46:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:46:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.462s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:46:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.348[m] 89.866[deg]	[grasp_sample.py: 539]
-05/10 11:46:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:46:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:46:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:46:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:46:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:46:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:46:39 INFO: [Worker 0] Worker 0 house 1 episode 181 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:46:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:46:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:46:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:47:06 INFO: [Worker 0] Saved videos eagerly for episode 135 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:47:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 11:47:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:47:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:47:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:47:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.71s (batch: 4.11s, save: 7.60s)	[pipeline.py: 300]
-05/10 11:47:18 INFO: [Worker 0] [PROFILE] Episode 181 house 1 success=True episode_total=0.42s:
-  episode_total: mean=189.83s, total=189.83s, count=1, min=189830.1ms, max=189830.1ms
-  sensor_polling: mean=457.5ms, total=137.25s, count=300, min=385.7ms, max=869.6ms
-  save_trajectories: mean=7.60s, total=7.60s, count=1, min=7602.3ms, max=7602.3ms
-  physics_step: mean=21.7ms, total=6.50s, count=300, min=16.7ms, max=58.6ms
-  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4109.9ms, max=4109.9ms
-  task_sampling: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms
-  task_specific_sample: mean=413.2ms, total=413.2ms, count=1, min=413.2ms, max=413.2ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=391.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:47:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:47:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:47:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:47:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:47:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:47:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:47:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:47:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:47:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034712m	[env.py: 870]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:47:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 134.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.05441707  1.0091155   0.0347124 ] yaw=-131.8deg	[env.py: 1019]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88974159  0.4146001   0.0347124 ] yaw=181.5deg	[env.py: 1019]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.07949129  0.80740104  0.0347124 ] yaw=-161.5deg	[env.py: 1019]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:47:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.0ms, total=199.0ms	[env.py: 1075]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.054, 1.009, 0.035)	[env.py: 1079]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.8 deg	[env.py: 1082]
-05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
-05/10 11:47:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:47:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:47:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:47:20 INFO: [Worker 0] Worker 0 house 1 episode 182/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:47:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:47:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:47:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:47:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:47:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.492s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:47:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.391[m] 83.171[deg]	[grasp_sample.py: 539]
-05/10 11:47:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:47:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:47:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:47:30 INFO: [Worker 0] Worker 0 house 1 episode 186 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:47:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:47:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:47:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:47:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:47:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:47:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:47:56 INFO: [Worker 0] Saved videos eagerly for episode 124 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:47:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 11:47:56 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
-05/10 11:47:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:47:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:47:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:47:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:47:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:47:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:47:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:47:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:47:59 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.357s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:47:59 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.060[deg]	[grasp_sample.py: 539]
-05/10 11:47:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:47:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:47:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:48:05 INFO: [Worker 0] Worker 0 house 1 episode 174 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:48:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:48:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:48:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:48:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.46s (batch: 3.92s, save: 7.54s)	[pipeline.py: 300]
-05/10 11:48:08 INFO: [Worker 0] [PROFILE] Episode 186 house 1 success=True episode_total=0.50s:
-  episode_total: mean=181.71s, total=181.71s, count=1, min=181712.7ms, max=181712.7ms
-  sensor_polling: mean=470.0ms, total=133.47s, count=284, min=395.7ms, max=826.3ms
-  save_trajectories: mean=7.54s, total=7.54s, count=1, min=7541.8ms, max=7541.8ms
-  physics_step: mean=21.5ms, total=6.10s, count=284, min=13.9ms, max=42.6ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3919.1ms, max=3919.1ms
-  task_sampling: mean=502.8ms, total=502.8ms, count=1, min=502.8ms, max=502.8ms
-  task_specific_sample: mean=498.8ms, total=498.8ms, count=1, min=498.8ms, max=498.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=436.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:48:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:48:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:48:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:48:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:48:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:48:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:48:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:48:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:48:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013442m	[env.py: 870]
-05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:48:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03328281  0.23819316  0.01344195] yaw=163.9deg	[env.py: 1019]
-05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70499771  0.6617864   0.01344195] yaw=-160.2deg	[env.py: 1019]
-05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84213548  1.00638559  0.01344195] yaw=-142.3deg	[env.py: 1019]
-05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:48:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.1ms, total=163.2ms	[env.py: 1075]
-05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.033, 0.238, 0.013)	[env.py: 1079]
-05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.9 deg	[env.py: 1082]
-05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.712m	[env.py: 1086]
-05/10 11:48:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:48:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:48:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:48:10 INFO: [Worker 0] Worker 0 house 1 episode 187/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:48:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:48:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:48:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:48:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:48:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:48:11 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.261[m] 86.835[deg]	[grasp_sample.py: 539]
-05/10 11:48:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:48:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:48:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:48:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:48:27 INFO: [Worker 0] Saved videos eagerly for episode 135 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:48:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 11:48:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:48:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:48:38 INFO: [Worker 0] Worker 0 house 1 episode 176 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:48:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:48:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:48:43 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.05s (batch: 4.30s, save: 11.76s)	[pipeline.py: 300]
-05/10 11:48:43 INFO: [Worker 0] [PROFILE] Episode 174 house 1 success=True episode_total=0.52s:
-  episode_total: mean=202.15s, total=202.15s, count=1, min=202148.3ms, max=202148.3ms
-  sensor_polling: mean=470.6ms, total=141.19s, count=300, min=384.9ms, max=797.4ms
-  save_trajectories: mean=11.76s, total=11.76s, count=1, min=11758.2ms, max=11758.2ms
-  physics_step: mean=23.1ms, total=6.92s, count=300, min=14.2ms, max=60.3ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4296.3ms, max=4296.3ms
-  task_sampling: mean=520.5ms, total=520.5ms, count=1, min=520.5ms, max=520.5ms
-  task_specific_sample: mean=516.7ms, total=516.7ms, count=1, min=516.7ms, max=516.7ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=508.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:48:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:48:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:48:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:48:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:48:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:48:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:48:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:48:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:48:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018100m	[env.py: 870]
-05/10 11:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:48:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79609687  0.40853089 -0.01809963] yaw=164.7deg	[env.py: 1019]
-05/10 11:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86432496  1.0048071  -0.01809963] yaw=-152.3deg	[env.py: 1019]
-05/10 11:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:48:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=387.8ms, total=387.9ms	[env.py: 1075]
-05/10 11:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.409, -0.018)	[env.py: 1079]
-05/10 11:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.7 deg	[env.py: 1082]
-05/10 11:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
-05/10 11:48:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:48:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:48:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:48:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:48:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:48:46 INFO: [Worker 0] Worker 0 house 1 episode 175/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:48:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:48:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:48:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:48:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:48:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.747s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:48:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.489[m] 96.667[deg]	[grasp_sample.py: 539]
-05/10 11:48:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:48:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:48:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:48:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:48:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:49:01 INFO: [Worker 0] Saved videos eagerly for episode 128 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:49:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 11:49:01 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
-05/10 11:49:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:49:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:49:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.74s (batch: 4.22s, save: 10.51s)	[pipeline.py: 300]
-05/10 11:49:17 INFO: [Worker 0] [PROFILE] Episode 176 house 1 success=True episode_total=0.72s:
-  episode_total: mean=161.55s, total=323.09s, count=2, min=135658.3ms, max=187436.5ms
-  sensor_polling: mean=459.3ms, total=248.47s, count=541, min=378.8ms, max=954.3ms
-  physics_step: mean=21.1ms, total=11.44s, count=541, min=13.8ms, max=106.3ms
-  save_trajectories: mean=10.51s, total=10.51s, count=1, min=10510.6ms, max=10510.6ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4224.9ms, max=4224.9ms
-  task_sampling: mean=362.4ms, total=724.8ms, count=2, min=357.1ms, max=367.8ms
-  task_specific_sample: mean=359.2ms, total=718.4ms, count=2, min=353.5ms, max=365.0ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=381.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:49:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:49:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:49:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:49:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:49:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:49:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:49:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:49:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:49:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044975m	[env.py: 870]
-05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:49:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75011944  0.25182631  0.04497488] yaw=159.2deg	[env.py: 1019]
-05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77435258  0.19819941  0.04497488] yaw=153.9deg	[env.py: 1019]
-05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.0914      0.96254231  0.04497488] yaw=-144.4deg	[env.py: 1019]
-05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:49:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.8ms, total=223.8ms	[env.py: 1075]
-05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.750, 0.252, 0.045)	[env.py: 1079]
-05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.2 deg	[env.py: 1082]
-05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m	[env.py: 1086]
-05/10 11:49:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:49:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:49:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:49:19 INFO: [Worker 0] Worker 0 house 1 episode 177/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:49:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:49:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:49:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:49:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:49:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.076s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:49:21 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.527[m] 91.082[deg]	[grasp_sample.py: 539]
-05/10 11:49:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:49:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:49:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:49:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:49:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:49:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:49:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:49:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:49:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:49:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:49:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:49:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:49:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:49:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:49:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:49:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:49:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:49:43 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.681s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:49:43 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.126[deg]	[grasp_sample.py: 539]
-05/10 11:49:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:49:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:49:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:49:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:49:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:49:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:49:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:49:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:49:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:49:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:49:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:49:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:50:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:50:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:50:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:50:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:50:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:50:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:50:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:50:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:50:04 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.561s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:50:04 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.344[deg]	[grasp_sample.py: 539]
-05/10 11:50:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:50:05 ERROR: [Worker 0] Worker 0 house 1 episode 182 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 11:50:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:50:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:50:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:50:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:50:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:50:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:50:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023347m	[env.py: 870]
-05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:50:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9074755   0.84985315 -0.02334723] yaw=-166.0deg	[env.py: 1019]
-05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87220881  1.1131131  -0.02334723] yaw=-135.1deg	[env.py: 1019]
-05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89052527  0.46692632 -0.02334723] yaw=175.5deg	[env.py: 1019]
-05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:50:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.9ms, total=139.9ms	[env.py: 1075]
-05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.907, 0.850, -0.023)	[env.py: 1079]
-05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.0 deg	[env.py: 1082]
-05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
-05/10 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:50:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:50:07 INFO: [Worker 0] Worker 0 house 1 episode 183/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:50:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:50:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:50:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:50:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:50:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.584s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:50:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.451[m] 89.127[deg]	[grasp_sample.py: 539]
-05/10 11:50:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:50:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:50:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:50:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:50:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:50:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:50:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:50:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:50:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:50:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:50:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:50:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:50:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:50:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:50:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:50:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:50:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:50:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:50:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:50:32 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.343s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:50:32 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.741[deg]	[grasp_sample.py: 539]
-05/10 11:50:32 ERROR: [Worker 0] Worker 0 house 1 episode 187 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 11:50:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:50:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:50:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:50:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:50:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:50:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:50:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:50:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:50:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016135m	[env.py: 870]
-05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:50:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77228442  0.46035642  0.01613501] yaw=188.2deg	[env.py: 1019]
-05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86827395  0.25118108  0.01613501] yaw=172.0deg	[env.py: 1019]
-05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:50:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=185.0ms, total=185.0ms	[env.py: 1075]
-05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.772, 0.460, 0.016)	[env.py: 1079]
-05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.2 deg	[env.py: 1082]
-05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m	[env.py: 1086]
-05/10 11:50:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:50:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:50:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:50:35 INFO: [Worker 0] Worker 0 house 1 episode 188/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:50:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:50:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:50:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:50:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:50:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:50:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.454[m] 78.125[deg]	[grasp_sample.py: 539]
-05/10 11:50:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:50:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:50:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:50:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:50:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:51:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:51:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:51:17 INFO: [Worker 0] Worker 0 house 1 episode 175 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:51:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:51:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:51:40 INFO: [Worker 0] Saved videos eagerly for episode 136 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:51:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 11:51:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:51:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:51:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:51:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.80s (batch: 3.97s, save: 9.83s)	[pipeline.py: 300]
-05/10 11:51:55 INFO: [Worker 0] [PROFILE] Episode 175 house 1 success=True episode_total=0.67s:
-  episode_total: mean=189.29s, total=189.29s, count=1, min=189290.1ms, max=189290.1ms
-  sensor_polling: mean=466.3ms, total=139.89s, count=300, min=395.7ms, max=1069.6ms
-  save_trajectories: mean=9.83s, total=9.83s, count=1, min=9828.3ms, max=9828.3ms
-  physics_step: mean=23.2ms, total=6.96s, count=300, min=14.5ms, max=71.1ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3970.1ms, max=3970.1ms
-  task_sampling: mean=673.9ms, total=673.9ms, count=1, min=673.9ms, max=673.9ms
-  task_specific_sample: mean=670.1ms, total=670.1ms, count=1, min=670.1ms, max=670.1ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=474.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:51:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:51:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:51:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:51:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:51:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:51:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:51:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:51:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:51:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042278m	[env.py: 870]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:51:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89396897  0.28636996  0.04227758] yaw=170.5deg	[env.py: 1019]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.10390515  1.02642293  0.04227758] yaw=-135.1deg	[env.py: 1019]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96462204  0.23722036  0.04227758] yaw=158.3deg	[env.py: 1019]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:51:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.3ms, total=153.4ms	[env.py: 1075]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.286, 0.042)	[env.py: 1079]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.5 deg	[env.py: 1082]
-05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
-05/10 11:51:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:51:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:51:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:51:57 INFO: [Worker 0] Worker 0 house 1 episode 176/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:51:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:51:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:51:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:51:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:51:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.437s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:51:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.388[m] 93.195[deg]	[grasp_sample.py: 539]
-05/10 11:51:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:51:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:51:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:52:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:52:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:52:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:52:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:52:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:52:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:52:12 INFO: [Worker 0] Worker 0 house 1 episode 177 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:52:34 INFO: [Worker 0] Worker 0 house 1 episode 183 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:52:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:52:36 INFO: [Worker 0] Saved videos eagerly for episode 129 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:52:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 11:52:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:52:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:52:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:52:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:52:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.00s (batch: 4.13s, save: 8.86s)	[pipeline.py: 300]
-05/10 11:52:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:52:49 INFO: [Worker 0] [PROFILE] Episode 177 house 1 success=True episode_total=0.53s:
-  episode_total: mean=210.51s, total=210.51s, count=1, min=210510.8ms, max=210510.8ms
-  sensor_polling: mean=465.5ms, total=139.64s, count=300, min=408.7ms, max=972.5ms
-  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8864.2ms, max=8864.2ms
-  physics_step: mean=20.9ms, total=6.28s, count=300, min=16.2ms, max=55.5ms
-  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4131.2ms, max=4131.2ms
-  task_sampling: mean=528.7ms, total=528.7ms, count=1, min=528.7ms, max=528.7ms
-  task_specific_sample: mean=525.0ms, total=525.0ms, count=1, min=525.0ms, max=525.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=438.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:52:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:52:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:52:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:52:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:52:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:52:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:52:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:52:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:52:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:52:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:52:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025269m	[env.py: 870]
-05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:52:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01202581  0.14641124 -0.02526929] yaw=144.8deg	[env.py: 1019]
-05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02863922  0.75306895 -0.02526929] yaw=-152.6deg	[env.py: 1019]
-05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94397135  0.33011866 -0.02526929] yaw=169.1deg	[env.py: 1019]
-05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:52:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=333.0ms, total=333.1ms	[env.py: 1075]
-05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.012, 0.146, -0.025)	[env.py: 1079]
-05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.8 deg	[env.py: 1082]
-05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.768m	[env.py: 1086]
-05/10 11:52:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:52:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:52:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:52:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:52:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:52:52 INFO: [Worker 0] Worker 0 house 1 episode 178/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:52:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:52:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:52:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:52:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:52:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.185s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:52:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.383[m] 102.723[deg]	[grasp_sample.py: 539]
-05/10 11:52:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:52:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:52:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:53:01 INFO: [Worker 0] Saved videos eagerly for episode 136 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:53:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 11:53:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:53:04 INFO: [Worker 0] Worker 0 house 1 episode 188 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:53:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:53:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:53:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.02s (batch: 4.09s, save: 7.93s)	[pipeline.py: 300]
-05/10 11:53:14 INFO: [Worker 0] [PROFILE] Episode 183 house 1 success=True episode_total=0.87s:
-  episode_total: mean=176.13s, total=352.27s, count=2, min=165472.1ms, max=186795.5ms
-  sensor_polling: mean=464.4ms, total=274.48s, count=591, min=392.4ms, max=964.5ms
-  physics_step: mean=21.8ms, total=12.91s, count=591, min=14.4ms, max=58.8ms
-  save_trajectories: mean=7.93s, total=7.93s, count=1, min=7930.5ms, max=7930.5ms
-  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4089.3ms, max=4089.3ms
-  task_sampling: mean=437.1ms, total=874.3ms, count=2, min=427.8ms, max=446.4ms
-  task_specific_sample: mean=433.8ms, total=867.6ms, count=2, min=424.5ms, max=443.1ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.5ms, max=2.2ms
-  mj_forward_sync: mean=449.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:53:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:53:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:53:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:53:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:53:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:53:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:53:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:53:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:53:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039406m	[env.py: 870]
-05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:53:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72238995  0.29474244  0.03940563] yaw=171.3deg	[env.py: 1019]
-05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77806555  0.66823423  0.03940563] yaw=-162.0deg	[env.py: 1019]
-05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76960044  0.45573392  0.03940563] yaw=188.8deg	[env.py: 1019]
-05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:53:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.4ms, total=111.4ms	[env.py: 1075]
-05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.722, 0.295, 0.039)	[env.py: 1079]
-05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.3 deg	[env.py: 1082]
-05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
-05/10 11:53:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:53:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:53:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:53:16 INFO: [Worker 0] Worker 0 house 1 episode 184/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:53:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:53:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:53:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:53:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:53:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.559s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:53:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.516[m] 78.332[deg]	[grasp_sample.py: 539]
-05/10 11:53:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:53:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:53:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:53:25 INFO: [Worker 0] Saved videos eagerly for episode 125 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:53:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 11:53:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:53:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:53:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:53:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:53:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:53:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:53:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:53:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:53:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.66s (batch: 4.88s, save: 9.78s)	[pipeline.py: 300]
-05/10 11:53:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:53:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:53:41 INFO: [Worker 0] [PROFILE] Episode 188 house 1 success=True episode_total=0.90s:
-  episode_total: mean=164.56s, total=329.13s, count=2, min=142550.8ms, max=186575.8ms
-  sensor_polling: mean=478.2ms, total=239.59s, count=501, min=398.7ms, max=983.0ms
-  physics_step: mean=21.7ms, total=10.85s, count=501, min=13.6ms, max=50.5ms
-  save_trajectories: mean=9.78s, total=9.78s, count=1, min=9775.0ms, max=9775.0ms
-  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4884.4ms, max=4884.4ms
-  task_sampling: mean=452.3ms, total=904.7ms, count=2, min=436.3ms, max=468.4ms
-  task_specific_sample: mean=448.8ms, total=897.6ms, count=2, min=432.2ms, max=465.5ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.3ms, max=2.7ms
-  mj_forward_sync: mean=451.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=18.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:53:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:53:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:53:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:53:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:53:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:53:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:53:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:53:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:53:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:53:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017409m	[env.py: 870]
-05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:53:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76030955  0.83114851  0.01740895] yaw=-160.4deg	[env.py: 1019]
-05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72372884  0.62296759  0.01740895] yaw=-169.9deg	[env.py: 1019]
-05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85704026  0.61397639  0.01740895] yaw=-171.4deg	[env.py: 1019]
-05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:53:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.0ms, total=130.0ms	[env.py: 1075]
-05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.760, 0.831, 0.017)	[env.py: 1079]
-05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg	[env.py: 1082]
-05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
-05/10 11:53:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:53:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:53:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:53:43 INFO: [Worker 0] Worker 0 house 1 episode 189/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:53:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:53:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:53:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:53:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:53:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:53:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:53:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.017s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:53:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.588[m] 93.338[deg]	[grasp_sample.py: 539]
-05/10 11:53:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:53:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:53:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:53:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:53:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:53:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:53:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:53:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:53:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:53:46 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.439s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:53:46 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.773[deg]	[grasp_sample.py: 539]
-05/10 11:53:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:53:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:53:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:53:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:53:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:53:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:53:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:53:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:53:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:53:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:53:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:53:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:53:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:53:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:53:59 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.402s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:53:59 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.768[deg]	[grasp_sample.py: 539]
-05/10 11:53:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:54:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:54:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:54:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:54:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:54:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:54:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:54:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:54:11 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.432s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:54:11 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.768[deg]	[grasp_sample.py: 539]
-05/10 11:54:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:54:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:54:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:54:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:54:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:54:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:54:24 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 11:54:24 INFO: [Worker 0] Worker 0 house 1 episode 176 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 11:54:24 INFO: [Worker 0] [PROFILE] Episode 176 house 1 success=False episode_total=0.44s:
-  episode_total: mean=148.01s, total=148.01s, count=1, min=148005.6ms, max=148005.6ms
-  sensor_polling: mean=463.0ms, total=101.86s, count=220, min=391.8ms, max=762.8ms
-  physics_step: mean=21.4ms, total=4.71s, count=220, min=11.8ms, max=52.0ms
-  task_sampling: mean=443.8ms, total=443.8ms, count=1, min=443.8ms, max=443.8ms
-  task_specific_sample: mean=439.6ms, total=439.6ms, count=1, min=439.6ms, max=439.6ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=513.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:54:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:54:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:54:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:54:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:54:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:54:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:54:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:54:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:54:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:54:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018144m	[env.py: 870]
-05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:54:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 136.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:54:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=434.5ms, total=434.6ms	[env.py: 1105]
-05/10 11:54:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
-05/10 11:54:26 ERROR: [Worker 0] Worker 0 house 1 episode 177 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
-05/10 11:54:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:54:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:54:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:54:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:54:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:54:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:54:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:54:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:54:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:54:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:54:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043307m	[env.py: 870]
-05/10 11:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:54:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67768367  0.14757588  0.04330738] yaw=152.4deg	[env.py: 1019]
-05/10 11:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00138211  0.62071347  0.04330738] yaw=-170.9deg	[env.py: 1019]
-05/10 11:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0803605   1.16191804  0.04330738] yaw=-142.8deg	[env.py: 1019]
-05/10 11:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:54:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.3ms, total=217.3ms	[env.py: 1075]
-05/10 11:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.678, 0.148, 0.043)	[env.py: 1079]
-05/10 11:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.4 deg	[env.py: 1082]
-05/10 11:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
-05/10 11:54:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:54:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:54:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:54:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:54:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:54:29 INFO: [Worker 0] Worker 0 house 1 episode 178/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:54:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:54:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:54:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:54:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:54:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.581s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:54:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.623[m] 86.061[deg]	[grasp_sample.py: 539]
-05/10 11:54:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:54:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:54:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:54:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:54:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:54:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:55:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:55:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:55:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:55:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:55:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:55:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:55:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:55:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:55:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:55:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:55:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:55:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:55:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:55:19 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.755s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:55:19 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.548[deg]	[grasp_sample.py: 539]
-05/10 11:55:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:55:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:55:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:55:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:55:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:55:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:55:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:55:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:55:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:56:00 INFO: [Worker 0] Worker 0 house 1 episode 178 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:56:02 INFO: [Worker 0] Worker 0 house 1 episode 184 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:56:14 INFO: [Worker 0] Worker 0 house 1 episode 189 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:56:21 INFO: [Worker 0] Saved videos eagerly for episode 130 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:56:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 11:56:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:56:25 INFO: [Worker 0] Saved videos eagerly for episode 137 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:56:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 11:56:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:56:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:56:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:56:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:56:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:56:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:56:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:56:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.78s (batch: 4.15s, save: 7.62s)	[pipeline.py: 300]
-05/10 11:56:34 INFO: [Worker 0] [PROFILE] Episode 178 house 1 success=True episode_total=0.64s:
-  episode_total: mean=222.81s, total=222.81s, count=1, min=222805.1ms, max=222805.1ms
-  sensor_polling: mean=458.8ms, total=137.64s, count=300, min=384.1ms, max=751.2ms
-  save_trajectories: mean=7.62s, total=7.62s, count=1, min=7623.2ms, max=7623.2ms
-  physics_step: mean=21.5ms, total=6.46s, count=300, min=13.6ms, max=38.3ms
-  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4154.2ms, max=4154.2ms
-  task_sampling: mean=643.8ms, total=643.8ms, count=1, min=643.8ms, max=643.8ms
-  task_specific_sample: mean=639.6ms, total=639.6ms, count=1, min=639.6ms, max=639.6ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=449.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:56:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:56:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:56:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:56:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:56:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:56:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:56:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:56:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045977m	[env.py: 870]
-05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:56:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96507779  1.13244527 -0.04597695] yaw=-143.1deg	[env.py: 1019]
-05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01273353  0.20621618 -0.04597695] yaw=165.7deg	[env.py: 1019]
-05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70393027  0.08804076 -0.04597695] yaw=156.1deg	[env.py: 1019]
-05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:56:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.9ms, total=114.0ms	[env.py: 1075]
-05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.965, 1.132, -0.046)	[env.py: 1079]
-05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.1 deg	[env.py: 1082]
-05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
-05/10 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:56:36 INFO: [Worker 0] Saved videos eagerly for episode 126 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:56:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 11:56:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:56:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:56:36 INFO: [Worker 0] Worker 0 house 1 episode 179/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:56:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:56:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:56:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:56:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:56:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:56:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:56:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:56:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.03s (batch: 3.93s, save: 8.10s)	[pipeline.py: 300]
-05/10 11:56:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.356s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:56:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.566[m] 86.413[deg]	[grasp_sample.py: 539]
-05/10 11:56:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:56:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:56:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:56:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:56:38 INFO: [Worker 0] [PROFILE] Episode 184 house 1 success=True episode_total=0.36s:
-  episode_total: mean=202.67s, total=202.67s, count=1, min=202672.0ms, max=202672.0ms
-  sensor_polling: mean=466.2ms, total=139.85s, count=300, min=395.5ms, max=744.7ms
-  save_trajectories: mean=8.10s, total=8.10s, count=1, min=8099.4ms, max=8099.4ms
-  physics_step: mean=23.4ms, total=7.01s, count=300, min=13.7ms, max=86.0ms
-  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3934.0ms, max=3934.0ms
-  task_sampling: mean=356.1ms, total=356.1ms, count=1, min=356.1ms, max=356.1ms
-  task_specific_sample: mean=352.6ms, total=352.6ms, count=1, min=352.6ms, max=352.6ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=374.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:56:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:56:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:56:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:56:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:56:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:56:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:56:39 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.429s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:56:39 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.299[deg]	[grasp_sample.py: 539]
-05/10 11:56:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:56:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:56:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:56:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:56:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:56:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:56:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:56:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:56:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:56:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:56:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:56:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013180m	[env.py: 870]
-05/10 11:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:56:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.960574    0.85625177 -0.01318003] yaw=-157.7deg	[env.py: 1019]
-05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95978662  0.47654724 -0.01318003] yaw=185.0deg	[env.py: 1019]
-05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84750935  0.42237256 -0.01318003] yaw=183.3deg	[env.py: 1019]
-05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:56:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.3ms, total=85.3ms	[env.py: 1075]
-05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.961, 0.856, -0.013)	[env.py: 1079]
-05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.7 deg	[env.py: 1082]
-05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
-05/10 11:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:56:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:56:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:56:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:56:40 INFO: [Worker 0] Worker 0 house 1 episode 185/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:56:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:56:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:56:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:56:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:56:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.419s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:56:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.377[m] 78.202[deg]	[grasp_sample.py: 539]
-05/10 11:56:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:56:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:56:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:56:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:56:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:56:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:56:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.23s (batch: 4.01s, save: 7.22s)	[pipeline.py: 300]
-05/10 11:56:48 INFO: [Worker 0] [PROFILE] Episode 189 house 1 success=True episode_total=0.43s:
-  episode_total: mean=185.26s, total=185.26s, count=1, min=185264.9ms, max=185264.9ms
-  sensor_polling: mean=464.2ms, total=139.26s, count=300, min=389.2ms, max=848.2ms
-  save_trajectories: mean=7.22s, total=7.22s, count=1, min=7223.6ms, max=7223.6ms
-  physics_step: mean=20.9ms, total=6.27s, count=300, min=13.9ms, max=42.3ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4005.7ms, max=4005.7ms
-  task_sampling: mean=434.8ms, total=434.8ms, count=1, min=434.8ms, max=434.8ms
-  task_specific_sample: mean=431.7ms, total=431.7ms, count=1, min=431.7ms, max=431.7ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=367.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:56:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:56:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:56:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:56:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:56:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:56:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:56:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:56:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:56:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:56:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:56:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026630m	[env.py: 870]
-05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:56:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89854641  0.79851868  0.02663036] yaw=-155.0deg	[env.py: 1019]
-05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06098051  0.95366069  0.02663036] yaw=-142.8deg	[env.py: 1019]
-05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70867326  0.35056843  0.02663036] yaw=172.8deg	[env.py: 1019]
-05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:56:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.4ms, total=103.5ms	[env.py: 1075]
-05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.799, 0.027)	[env.py: 1079]
-05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.0 deg	[env.py: 1082]
-05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
-05/10 11:56:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:56:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:56:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:56:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:56:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:56:50 INFO: [Worker 0] Worker 0 house 1 episode 190/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:56:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:56:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:56:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:56:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:56:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.446s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:56:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.428[m] 91.566[deg]	[grasp_sample.py: 539]
-05/10 11:56:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:56:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:56:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:56:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:56:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:57:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:57:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:57:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:57:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:57:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:57:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:57:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:57:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:57:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:57:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:57:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:57:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:57:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:57:11 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.500s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:57:11 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.788[deg]	[grasp_sample.py: 539]
-05/10 11:57:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:57:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:57:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:57:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:57:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:57:16 INFO: [Worker 0] Worker 0 house 1 episode 178 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 11:57:16 INFO: [Worker 0] [PROFILE] Episode 178 house 1 success=False episode_total=0.47s:
-  episode_total: mean=84.27s, total=168.55s, count=2, min=454.0ms, max=168094.0ms
-  sensor_polling: mean=455.3ms, total=136.58s, count=300, min=386.1ms, max=819.4ms
-  physics_step: mean=20.9ms, total=6.28s, count=300, min=12.6ms, max=46.5ms
-  task_specific_sample: mean=454.3ms, total=908.5ms, count=2, min=440.4ms, max=468.2ms
-  task_sampling: mean=471.8ms, total=471.8ms, count=1, min=471.8ms, max=471.8ms
-  task_sampling_failed: mean=454.0ms, total=454.0ms, count=1, min=454.0ms, max=454.0ms
-  scene_randomize: mean=1.4ms, total=2.8ms, count=2, min=1.2ms, max=1.6ms
-  mj_forward_sync: mean=490.8us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:57:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:57:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:57:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:57:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:57:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:57:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:57:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:57:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:57:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:57:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:57:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015808m	[env.py: 870]
-05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:57:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9038653   0.48254808 -0.0158076 ] yaw=-182.3deg	[env.py: 1019]
-05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96928073  0.11470013 -0.0158076 ] yaw=161.0deg	[env.py: 1019]
-05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77570387  0.0963791  -0.0158076 ] yaw=165.1deg	[env.py: 1019]
-05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:57:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=78.5ms, total=78.6ms	[env.py: 1075]
-05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.904, 0.483, -0.016)	[env.py: 1079]
-05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.3 deg	[env.py: 1082]
-05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.798m	[env.py: 1086]
-05/10 11:57:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:57:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:57:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:57:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:57:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:57:18 INFO: [Worker 0] Worker 0 house 1 episode 179/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:57:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:57:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:57:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:57:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:57:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.388s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:57:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.402[m] 98.944[deg]	[grasp_sample.py: 539]
-05/10 11:57:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:57:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:57:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:57:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:57:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:57:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:57:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:57:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:57:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:57:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:57:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:57:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:58:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 11:58:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:58:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:58:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:58:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:58:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:58:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:58:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:58:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:58:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 11:58:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 11:58:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 11:58:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:58:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:58:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:58:58 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.496s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:58:58 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.100[m] 3.364[deg]	[grasp_sample.py: 539]
-05/10 11:58:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:58:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:58:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:59:09 INFO: [Worker 0] Worker 0 house 1 episode 185 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:59:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:59:16 INFO: [Worker 0] Worker 0 house 1 episode 179 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:59:22 INFO: [Worker 0] Worker 0 house 1 episode 190 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:59:34 INFO: [Worker 0] Saved videos eagerly for episode 138 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:59:34 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 11:59:34 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
-05/10 11:59:39 INFO: [Worker 0] Saved videos eagerly for episode 131 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:59:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 11:59:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:59:44 INFO: [Worker 0] Saved videos eagerly for episode 127 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 11:59:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 11:59:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 11:59:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:59:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:59:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.64s (batch: 4.13s, save: 8.51s)	[pipeline.py: 300]
-05/10 11:59:47 INFO: [Worker 0] [PROFILE] Episode 185 house 1 success=True episode_total=0.37s:
-  episode_total: mean=187.84s, total=187.84s, count=1, min=187843.9ms, max=187843.9ms
-  sensor_polling: mean=470.5ms, total=138.81s, count=295, min=397.9ms, max=871.0ms
-  save_trajectories: mean=8.51s, total=8.51s, count=1, min=8513.6ms, max=8513.6ms
-  physics_step: mean=22.2ms, total=6.55s, count=295, min=13.8ms, max=69.0ms
-  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4128.6ms, max=4128.6ms
-  task_sampling: mean=372.2ms, total=372.2ms, count=1, min=372.2ms, max=372.2ms
-  task_specific_sample: mean=368.9ms, total=368.9ms, count=1, min=368.9ms, max=368.9ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=372.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:59:49 INFO: [Worker 0] Worker 0 house 1 episode 179 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 11:59:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:59:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:59:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:59:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:59:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:59:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:59:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:59:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:59:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045911m	[env.py: 870]
-05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:59:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74298861  0.95016438  0.04591127] yaw=-144.0deg	[env.py: 1019]
-05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88437291  0.44492974  0.04591127] yaw=177.5deg	[env.py: 1019]
-05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 126.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.68138085  0.28170518  0.04591127] yaw=163.3deg	[env.py: 1019]
-05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:59:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.9ms, total=128.9ms	[env.py: 1075]
-05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.950, 0.046)	[env.py: 1079]
-05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.0 deg	[env.py: 1082]
-05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
-05/10 11:59:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:59:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:59:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:59:49 INFO: [Worker 0] Worker 0 house 1 episode 186/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:59:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:59:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:59:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:59:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:59:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.266s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:59:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.651[m] 89.444[deg]	[grasp_sample.py: 539]
-05/10 11:59:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:59:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:59:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:59:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:59:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:59:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.93s (batch: 3.98s, save: 7.95s)	[pipeline.py: 300]
-05/10 11:59:52 INFO: [Worker 0] [PROFILE] Episode 179 house 1 success=True episode_total=0.41s:
-  episode_total: mean=196.29s, total=196.29s, count=1, min=196286.2ms, max=196286.2ms
-  sensor_polling: mean=462.9ms, total=138.88s, count=300, min=382.0ms, max=1102.4ms
-  save_trajectories: mean=7.95s, total=7.95s, count=1, min=7948.5ms, max=7948.5ms
-  physics_step: mean=20.9ms, total=6.28s, count=300, min=13.1ms, max=48.0ms
-  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3978.7ms, max=3978.7ms
-  task_sampling: mean=407.1ms, total=407.1ms, count=1, min=407.1ms, max=407.1ms
-  task_specific_sample: mean=404.2ms, total=404.2ms, count=1, min=404.2ms, max=404.2ms
-  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
-  mj_forward_sync: mean=373.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:59:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:59:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:59:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:59:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:59:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:59:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:59:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:59:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:59:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001880m	[env.py: 870]
-05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:59:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90639363  0.63373315  0.0018798 ] yaw=-178.3deg	[env.py: 1019]
-05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.17652683  1.06913377  0.0018798 ] yaw=-132.5deg	[env.py: 1019]
-05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:59:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.7ms, total=149.8ms	[env.py: 1075]
-05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.906, 0.634, 0.002)	[env.py: 1079]
-05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.3 deg	[env.py: 1082]
-05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
-05/10 11:59:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:59:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:59:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:59:54 INFO: [Worker 0] Worker 0 house 1 episode 180/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:59:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:59:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:59:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:59:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:59:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.414s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:59:54 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.407[m] 95.954[deg]	[grasp_sample.py: 539]
-05/10 11:59:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:59:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:59:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 11:59:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 11:59:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 11:59:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.31s (batch: 3.72s, save: 7.59s)	[pipeline.py: 300]
-05/10 11:59:56 INFO: [Worker 0] [PROFILE] Episode 190 house 1 success=True episode_total=0.42s:
-  episode_total: mean=186.90s, total=186.90s, count=1, min=186904.5ms, max=186904.5ms
-  sensor_polling: mean=472.9ms, total=141.86s, count=300, min=386.1ms, max=930.8ms
-  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7590.1ms, max=7590.1ms
-  physics_step: mean=22.3ms, total=6.68s, count=300, min=13.4ms, max=63.3ms
-  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3721.2ms, max=3721.2ms
-  task_sampling: mean=421.4ms, total=421.4ms, count=1, min=421.4ms, max=421.4ms
-  task_specific_sample: mean=417.9ms, total=417.9ms, count=1, min=417.9ms, max=417.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=382.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 11:59:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 11:59:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 11:59:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 11:59:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:59:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:59:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 11:59:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 11:59:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 11:59:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038455m	[env.py: 870]
-05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 11:59:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09786342  0.84085594  0.0384554 ] yaw=-139.3deg	[env.py: 1019]
-05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96941211  0.92818923  0.0384554 ] yaw=-137.8deg	[env.py: 1019]
-05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83484654  0.02645575  0.0384554 ] yaw=147.3deg	[env.py: 1019]
-05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 11:59:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.4ms, total=123.5ms	[env.py: 1075]
-05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.098, 0.841, 0.038)	[env.py: 1079]
-05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.3 deg	[env.py: 1082]
-05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.703m	[env.py: 1086]
-05/10 11:59:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 11:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 11:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 11:59:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 11:59:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 11:59:58 INFO: [Worker 0] Worker 0 house 1 episode 191/240 collected=0/40	[pipeline.py: 1044]
-05/10 11:59:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 11:59:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 11:59:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 11:59:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 11:59:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.467s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 11:59:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.320[m] 98.631[deg]	[grasp_sample.py: 539]
-05/10 11:59:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 11:59:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 11:59:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:00:12 INFO: [Worker 0] Saved videos eagerly for episode 137 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:00:12 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 12:00:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:00:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:00:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:00:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.42s (batch: 4.35s, save: 8.07s)	[pipeline.py: 300]
-05/10 12:00:25 INFO: [Worker 0] [PROFILE] Episode 179 house 1 success=True episode_total=0.33s:
-  episode_total: mean=187.12s, total=187.12s, count=1, min=187123.8ms, max=187123.8ms
-  sensor_polling: mean=464.0ms, total=139.21s, count=300, min=373.3ms, max=845.5ms
-  save_trajectories: mean=8.07s, total=8.07s, count=1, min=8070.3ms, max=8070.3ms
-  physics_step: mean=21.9ms, total=6.56s, count=300, min=13.5ms, max=60.6ms
-  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4348.8ms, max=4348.8ms
-  task_sampling: mean=328.6ms, total=328.6ms, count=1, min=328.6ms, max=328.6ms
-  task_specific_sample: mean=326.2ms, total=326.2ms, count=1, min=326.2ms, max=326.2ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=370.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:00:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:00:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:00:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:00:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:00:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:00:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:00:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:00:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:00:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018239m	[env.py: 870]
-05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:00:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82959709  0.95455508 -0.0182391 ] yaw=-162.7deg	[env.py: 1019]
-05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00266886  0.69325057 -0.0182391 ] yaw=-164.6deg	[env.py: 1019]
-05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.72278632  0.71967695 -0.0182391 ] yaw=-175.8deg	[env.py: 1019]
-05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:00:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.7ms, total=226.8ms	[env.py: 1075]
-05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.830, 0.955, -0.018)	[env.py: 1079]
-05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.7 deg	[env.py: 1082]
-05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
-05/10 12:00:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:00:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:00:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:00:27 INFO: [Worker 0] Worker 0 house 1 episode 180/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:00:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:00:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:00:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:00:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:00:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:00:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.463s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:00:29 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.564[m] 84.451[deg]	[grasp_sample.py: 539]
-05/10 12:00:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:00:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:00:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:00:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:00:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:00:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:00:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:00:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:00:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:01:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:01:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:01:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:01:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:01:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:02:13 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 12:02:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:02:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:02:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:02:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:02:14 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.885s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:02:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.620[deg]	[grasp_sample.py: 539]
-05/10 12:02:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:02:15 INFO: [Worker 0] Worker 0 house 1 episode 186 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:02:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:02:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:02:20 INFO: [Worker 0] Worker 0 house 1 episode 191 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:02:23 INFO: [Worker 0] Worker 0 house 1 episode 180 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:02:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:02:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:02:37 INFO: [Worker 0] Saved videos eagerly for episode 139 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:02:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 12:02:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:02:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:02:42 INFO: [Worker 0] Saved videos eagerly for episode 128 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:02:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 12:02:42 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
-05/10 12:02:45 INFO: [Worker 0] Saved videos eagerly for episode 132 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:02:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 12:02:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:02:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:02:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:02:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.80s (batch: 4.48s, save: 9.33s)	[pipeline.py: 300]
-05/10 12:02:51 INFO: [Worker 0] [PROFILE] Episode 186 house 1 success=True episode_total=0.40s:
-  episode_total: mean=182.40s, total=182.40s, count=1, min=182396.6ms, max=182396.6ms
-  sensor_polling: mean=448.4ms, total=134.52s, count=300, min=372.8ms, max=836.0ms
-  save_trajectories: mean=9.33s, total=9.33s, count=1, min=9325.4ms, max=9325.4ms
-  physics_step: mean=21.0ms, total=6.29s, count=300, min=13.8ms, max=68.9ms
-  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4476.0ms, max=4476.0ms
-  task_sampling: mean=395.6ms, total=395.6ms, count=1, min=395.6ms, max=395.6ms
-  task_specific_sample: mean=392.2ms, total=392.2ms, count=1, min=392.2ms, max=392.2ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=399.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:02:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:02:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:02:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:02:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:02:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:02:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:02:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:02:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:02:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042345m	[env.py: 870]
-05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:02:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7626362   0.35940698 -0.04234549] yaw=166.3deg	[env.py: 1019]
-05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.05229336  0.87259266 -0.04234549] yaw=-152.6deg	[env.py: 1019]
-05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:02:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.3ms, total=186.4ms	[env.py: 1075]
-05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.763, 0.359, -0.042)	[env.py: 1079]
-05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.3 deg	[env.py: 1082]
-05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
-05/10 12:02:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:02:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:02:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:02:53 INFO: [Worker 0] Worker 0 house 1 episode 187/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:02:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:02:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:02:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:02:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:02:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:02:54 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.540[m] 99.716[deg]	[grasp_sample.py: 539]
-05/10 12:02:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:02:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:02:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:02:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.27s (batch: 4.31s, save: 7.95s)	[pipeline.py: 300]
-05/10 12:02:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:02:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:02:55 INFO: [Worker 0] [PROFILE] Episode 191 house 1 success=True episode_total=0.38s:
-  episode_total: mean=177.23s, total=177.23s, count=1, min=177227.8ms, max=177227.8ms
-  sensor_polling: mean=460.1ms, total=132.06s, count=287, min=404.0ms, max=835.6ms
-  save_trajectories: mean=7.95s, total=7.95s, count=1, min=7954.0ms, max=7954.0ms
-  physics_step: mean=20.8ms, total=5.97s, count=287, min=14.0ms, max=41.9ms
-  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4313.0ms, max=4313.0ms
-  task_sampling: mean=378.8ms, total=378.8ms, count=1, min=378.8ms, max=378.8ms
-  task_specific_sample: mean=375.7ms, total=375.7ms, count=1, min=375.7ms, max=375.7ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=377.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:02:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:02:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:02:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:02:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:02:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:02:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:02:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:02:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:02:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:02:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:02:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038706m	[env.py: 870]
-05/10 12:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:02:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81377309  0.32097412  0.0387056 ] yaw=159.3deg	[env.py: 1019]
-05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86549548  0.8428197   0.0387056 ] yaw=-148.1deg	[env.py: 1019]
-05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:02:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=142.2ms, total=142.2ms	[env.py: 1075]
-05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.814, 0.321, 0.039)	[env.py: 1079]
-05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.3 deg	[env.py: 1082]
-05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
-05/10 12:02:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:02:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:02:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:02:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:02:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:02:57 INFO: [Worker 0] Worker 0 house 1 episode 192/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:02:57 INFO: [Worker 0] Worker 0 house 1 episode 180 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 12:02:57 INFO: [Worker 0] [PROFILE] Episode 180 house 1 success=False episode_total=0.47s:
-  episode_total: mean=150.26s, total=150.26s, count=1, min=150256.2ms, max=150256.2ms
-  sensor_polling: mean=458.3ms, total=137.50s, count=300, min=379.2ms, max=879.0ms
-  physics_step: mean=21.3ms, total=6.38s, count=300, min=13.6ms, max=53.9ms
-  task_sampling: mean=469.6ms, total=469.6ms, count=1, min=469.6ms, max=469.6ms
-  task_specific_sample: mean=466.1ms, total=466.1ms, count=1, min=466.1ms, max=466.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=383.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:02:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:02:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:02:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:02:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:02:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.467s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:02:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.464[m] 92.899[deg]	[grasp_sample.py: 539]
-05/10 12:02:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:02:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:02:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:02:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.41s (batch: 4.36s, save: 8.05s)	[pipeline.py: 300]
-05/10 12:02:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:02:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:02:59 INFO: [Worker 0] [PROFILE] Episode 180 house 1 success=True episode_total=0.47s:
-  episode_total: mean=185.27s, total=185.27s, count=1, min=185267.6ms, max=185267.6ms
-  sensor_polling: mean=462.2ms, total=138.66s, count=300, min=392.3ms, max=785.9ms
-  save_trajectories: mean=8.05s, total=8.05s, count=1, min=8050.0ms, max=8050.0ms
-  physics_step: mean=22.5ms, total=6.75s, count=300, min=13.3ms, max=59.2ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4358.5ms, max=4358.5ms
-  task_sampling: mean=475.0ms, total=475.0ms, count=1, min=475.0ms, max=475.0ms
-  task_specific_sample: mean=471.8ms, total=471.8ms, count=1, min=471.8ms, max=471.8ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=386.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:02:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:02:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:02:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:02:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:02:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:02:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:02:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:02:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:02:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040825m	[env.py: 870]
-05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:02:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80615217  0.3264205  -0.04082459] yaw=167.7deg	[env.py: 1019]
-05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87563917  0.58662974 -0.04082459] yaw=-177.1deg	[env.py: 1019]
-05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84343662  0.12490534 -0.04082459] yaw=163.8deg	[env.py: 1019]
-05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:02:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.2ms, total=130.2ms	[env.py: 1075]
-05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.326, -0.041)	[env.py: 1079]
-05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.7 deg	[env.py: 1082]
-05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
-05/10 12:02:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:02:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:02:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:02:59 INFO: [Worker 0] Worker 0 house 1 episode 181/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:02:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:02:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:02:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:02:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:03:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.467s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:03:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.481[m] 95.596[deg]	[grasp_sample.py: 539]
-05/10 12:03:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:03:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:03:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:03:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:03:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:03:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:03:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:03:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:03:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:03:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:03:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:03:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:03:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:03:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000747m	[env.py: 870]
-05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:03:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-8.62790189e-01  4.44155117e-01  7.47045876e-04] yaw=181.7deg	[env.py: 1019]
-05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08770961e+00  1.10944478e+00  7.47045876e-04] yaw=-128.2deg	[env.py: 1019]
-05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02470009e+00  2.28497612e-01  7.47045876e-04] yaw=159.1deg	[env.py: 1019]
-05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:03:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.2ms, total=98.3ms	[env.py: 1075]
-05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.863, 0.444, 0.001)	[env.py: 1079]
-05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.7 deg	[env.py: 1082]
-05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
-05/10 12:03:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:03:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:03:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:03:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:03:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:03:01 INFO: [Worker 0] Worker 0 house 1 episode 181/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:03:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:03:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:03:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:03:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:03:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.425s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:03:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.400[m] 93.867[deg]	[grasp_sample.py: 539]
-05/10 12:03:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:03:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:03:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:03:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:03:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:03:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:03:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:03:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:03:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:03:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:03:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:03:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:03:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:04:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:04:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:05:27 INFO: [Worker 0] Worker 0 house 1 episode 187 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:05:34 INFO: [Worker 0] Worker 0 house 1 episode 181 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:05:34 INFO: [Worker 0] Worker 0 house 1 episode 192 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:05:36 INFO: [Worker 0] Worker 0 house 1 episode 181 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:05:49 INFO: [Worker 0] Saved videos eagerly for episode 140 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:05:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 12:05:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:05:58 INFO: [Worker 0] Saved videos eagerly for episode 133 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:05:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 12:05:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:05:59 INFO: [Worker 0] Saved videos eagerly for episode 129 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:05:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 12:05:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:06:01 INFO: [Worker 0] Saved videos eagerly for episode 138 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:06:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 12:06:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:06:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:06:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:06:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.26s (batch: 4.27s, save: 8.99s)	[pipeline.py: 300]
-05/10 12:06:02 INFO: [Worker 0] [PROFILE] Episode 187 house 1 success=True episode_total=0.48s:
-  episode_total: mean=189.69s, total=189.69s, count=1, min=189688.2ms, max=189688.2ms
-  sensor_polling: mean=475.3ms, total=142.60s, count=300, min=399.0ms, max=892.7ms
-  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8989.5ms, max=8989.5ms
-  physics_step: mean=23.6ms, total=7.08s, count=300, min=13.7ms, max=56.6ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4274.6ms, max=4274.6ms
-  task_sampling: mean=476.8ms, total=476.8ms, count=1, min=476.8ms, max=476.8ms
-  task_specific_sample: mean=473.5ms, total=473.5ms, count=1, min=473.5ms, max=473.5ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=381.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:06:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:06:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:06:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:06:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:06:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:06:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:06:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:06:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:06:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:06:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:06:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.030m, effective arm-mount z=0.830m (base_body_z=-0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.029621m	[env.py: 870]
-05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:06:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95071494  0.89115371 -0.02962072] yaw=-143.5deg	[env.py: 1019]
-05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69957991  0.27735545 -0.02962072] yaw=163.8deg	[env.py: 1019]
-05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85746957  0.83934101 -0.02962072] yaw=-148.0deg	[env.py: 1019]
-05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:06:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.5ms, total=112.5ms	[env.py: 1075]
-05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.891, -0.030)	[env.py: 1079]
-05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.5 deg	[env.py: 1082]
-05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
-05/10 12:06:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:06:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:06:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:06:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:06:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:06:04 INFO: [Worker 0] Worker 0 house 1 episode 188/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:06:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:06:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:06:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:06:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:06:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.628s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:06:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.402[m] 86.259[deg]	[grasp_sample.py: 539]
-05/10 12:06:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:06:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:06:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:06:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:06:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:06:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.50s (batch: 3.90s, save: 7.60s)	[pipeline.py: 300]
-05/10 12:06:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:06:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:06:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.03s (batch: 3.61s, save: 7.42s)	[pipeline.py: 300]
-05/10 12:06:10 INFO: [Worker 0] [PROFILE] Episode 181 house 1 success=True episode_total=0.38s:
-  episode_total: mean=189.90s, total=189.90s, count=1, min=189900.8ms, max=189900.8ms
-  sensor_polling: mean=472.7ms, total=141.82s, count=300, min=385.6ms, max=851.1ms
-  save_trajectories: mean=7.60s, total=7.60s, count=1, min=7601.7ms, max=7601.7ms
-  physics_step: mean=23.0ms, total=6.90s, count=300, min=13.1ms, max=46.2ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3902.2ms, max=3902.2ms
-  task_sampling: mean=382.9ms, total=382.9ms, count=1, min=382.9ms, max=382.9ms
-  task_specific_sample: mean=379.2ms, total=379.2ms, count=1, min=379.2ms, max=379.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=378.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:06:10 INFO: [Worker 0] [PROFILE] Episode 192 house 1 success=True episode_total=0.41s:
-  episode_total: mean=193.91s, total=193.91s, count=1, min=193913.4ms, max=193913.4ms
-  sensor_polling: mean=472.3ms, total=141.70s, count=300, min=389.8ms, max=990.2ms
-  save_trajectories: mean=7.42s, total=7.42s, count=1, min=7419.4ms, max=7419.4ms
-  physics_step: mean=23.9ms, total=7.16s, count=300, min=13.3ms, max=69.3ms
-  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3615.0ms, max=3615.0ms
-  task_sampling: mean=409.7ms, total=409.7ms, count=1, min=409.7ms, max=409.7ms
-  task_specific_sample: mean=406.2ms, total=406.2ms, count=1, min=406.2ms, max=406.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=452.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:06:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:06:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:06:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:06:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:06:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:06:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:06:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007290m	[env.py: 870]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:06:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97859048  0.58708631  0.00728997] yaw=-161.8deg	[env.py: 1019]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7422492   0.32099077  0.00728997] yaw=169.3deg	[env.py: 1019]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.03125872  0.74956926  0.00728997] yaw=-158.0deg	[env.py: 1019]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:06:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.3ms, total=120.3ms	[env.py: 1075]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.979, 0.587, 0.007)	[env.py: 1079]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.8 deg	[env.py: 1082]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.731m	[env.py: 1086]
-05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:06:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:06:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:06:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:06:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:06:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:06:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:06:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.033m, effective arm-mount z=0.827m (base_body_z=-0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033490m	[env.py: 870]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:06:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06771735  1.27564744 -0.03349049] yaw=-124.6deg	[env.py: 1019]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.23912636  1.01671378 -0.03349049] yaw=-124.1deg	[env.py: 1019]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97128901  0.24786687 -0.03349049] yaw=156.1deg	[env.py: 1019]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:06:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.3ms, total=127.3ms	[env.py: 1075]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.068, 1.276, -0.033)	[env.py: 1079]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.6 deg	[env.py: 1082]
-05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
-05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:06:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:06:12 INFO: [Worker 0] Worker 0 house 1 episode 182/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:06:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:06:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:06:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:06:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:06:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:06:12 INFO: [Worker 0] Worker 0 house 1 episode 193/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:06:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:06:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:06:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:06:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:06:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.385s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:06:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.336[m] 95.643[deg]	[grasp_sample.py: 539]
-05/10 12:06:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:06:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:06:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.73s (batch: 4.05s, save: 7.69s)	[pipeline.py: 300]
-05/10 12:06:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:06:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:06:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:06:13 INFO: [Worker 0] [PROFILE] Episode 181 house 1 success=True episode_total=0.35s:
-  episode_total: mean=194.65s, total=194.65s, count=1, min=194645.7ms, max=194645.7ms
-  sensor_polling: mean=471.5ms, total=141.46s, count=300, min=380.0ms, max=910.1ms
-  save_trajectories: mean=7.69s, total=7.69s, count=1, min=7685.7ms, max=7685.7ms
-  physics_step: mean=23.4ms, total=7.01s, count=300, min=16.7ms, max=67.0ms
-  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4045.4ms, max=4045.4ms
-  task_sampling: mean=351.8ms, total=351.8ms, count=1, min=351.8ms, max=351.8ms
-  task_specific_sample: mean=348.8ms, total=348.8ms, count=1, min=348.8ms, max=348.8ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=374.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:06:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.425s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:06:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.619[m] 94.707[deg]	[grasp_sample.py: 539]
-05/10 12:06:15 ERROR: [Worker 0] Worker 0 house 1 episode 193 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 12:06:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:06:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:06:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:06:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:06:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:06:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:06:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000097m	[env.py: 870]
-05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:06:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01574956e+00  1.07613803e+00  9.69099477e-05] yaw=-150.3deg	[env.py: 1019]
-05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-8.82561252e-01  8.14508641e-01  9.69099477e-05] yaw=-152.6deg	[env.py: 1019]
-05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-9.42614187e-01  2.67596211e-01  9.69099477e-05] yaw=169.2deg	[env.py: 1019]
-05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:06:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.8ms, total=139.8ms	[env.py: 1075]
-05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.016, 1.076, 0.000)	[env.py: 1079]
-05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.3 deg	[env.py: 1082]
-05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m	[env.py: 1086]
-05/10 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:06:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:06:15 INFO: [Worker 0] Worker 0 house 1 episode 182/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:06:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:06:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:06:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:06:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:06:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:06:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:06:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:06:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:06:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:06:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:06:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:06:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:06:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:06:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:06:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037044m	[env.py: 870]
-05/10 12:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:06:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06033502  0.1366904   0.03704419] yaw=153.6deg	[env.py: 1019]
-05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03422165  0.6987055   0.03704419] yaw=-167.0deg	[env.py: 1019]
-05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72589436  0.77884149  0.03704419] yaw=-169.8deg	[env.py: 1019]
-05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:06:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.3ms, total=70.3ms	[env.py: 1075]
-05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.060, 0.137, 0.037)	[env.py: 1079]
-05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.6 deg	[env.py: 1082]
-05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.729m	[env.py: 1086]
-05/10 12:06:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:06:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:06:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:06:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:06:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:06:17 INFO: [Worker 0] Worker 0 house 1 episode 194/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:06:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:06:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:06:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:06:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:06:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.464s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:06:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.553[m] 94.505[deg]	[grasp_sample.py: 539]
-05/10 12:06:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:06:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.454s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:06:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.291[m] 92.137[deg]	[grasp_sample.py: 539]
-05/10 12:06:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:06:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:06:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:06:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:06:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:06:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:06:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:06:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:06:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:06:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:06:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:06:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:06:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:06:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:07:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:07:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:07:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:07:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:07:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:07:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:07:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:07:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:07:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:07:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:07:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:07:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:07:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:07:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:07:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:07:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:07:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:07:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:07:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:08:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:08:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:08:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:08:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:08:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.389s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:08:06 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.453[deg]	[grasp_sample.py: 539]
-05/10 12:08:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:08:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:08:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:08:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:08:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:08:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:08:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:08:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:08:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:08:19 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.405s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:08:19 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.617[deg]	[grasp_sample.py: 539]
-05/10 12:08:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:08:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:08:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:08:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:08:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:08:29 INFO: [Worker 0] Worker 0 house 1 episode 188 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:08:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:08:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:08:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:08:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:08:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:08:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:08:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:08:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:08:51 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.206s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:08:51 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.272[deg]	[grasp_sample.py: 539]
-05/10 12:08:53 ERROR: [Worker 0] Worker 0 house 1 episode 182 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 12:08:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:08:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:08:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:08:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:08:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:08:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:08:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:08:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:08:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:08:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:08:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029466m	[env.py: 870]
-05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:08:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:08:55 INFO: [Worker 0] Saved videos eagerly for episode 141 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:08:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 12:08:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93834039  1.07849475  0.02946636] yaw=-137.6deg	[env.py: 1019]
-05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87889994  0.94592002  0.02946636] yaw=-155.1deg	[env.py: 1019]
-05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92268929  1.14871873  0.02946636] yaw=-148.7deg	[env.py: 1019]
-05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:08:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=307.2ms, total=307.3ms	[env.py: 1075]
-05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.938, 1.078, 0.029)	[env.py: 1079]
-05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.6 deg	[env.py: 1082]
-05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
-05/10 12:08:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:08:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:08:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:08:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:08:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:08:55 INFO: [Worker 0] Worker 0 house 1 episode 183/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:08:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:08:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:08:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:08:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:08:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.592s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:08:58 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.524[m] 75.927[deg]	[grasp_sample.py: 539]
-05/10 12:09:00 ERROR: [Worker 0] Worker 0 house 1 episode 183 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 12:09:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:09:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:09:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:09:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:09:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:09:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:09:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:09:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:09:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011437m	[env.py: 870]
-05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:09:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77028095  0.11417858  0.01143702] yaw=151.4deg	[env.py: 1019]
-05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:09:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=446.1ms, total=446.1ms	[env.py: 1075]
-05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.770, 0.114, 0.011)	[env.py: 1079]
-05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.4 deg	[env.py: 1082]
-05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
-05/10 12:09:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:09:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:09:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:09:02 INFO: [Worker 0] Worker 0 house 1 episode 184/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:09:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:09:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:09:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:09:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:09:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.033s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:09:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.549[m] 87.753[deg]	[grasp_sample.py: 539]
-05/10 12:09:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:09:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:09:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:09:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:09:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:09:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.37s (batch: 4.63s, save: 9.74s)	[pipeline.py: 300]
-05/10 12:09:10 INFO: [Worker 0] [PROFILE] Episode 188 house 1 success=True episode_total=0.44s:
-  episode_total: mean=186.44s, total=186.44s, count=1, min=186439.8ms, max=186439.8ms
-  sensor_polling: mean=448.3ms, total=134.48s, count=300, min=372.7ms, max=735.8ms
-  save_trajectories: mean=9.74s, total=9.74s, count=1, min=9739.8ms, max=9739.8ms
-  physics_step: mean=21.1ms, total=6.33s, count=300, min=13.8ms, max=65.6ms
-  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4633.2ms, max=4633.2ms
-  task_sampling: mean=435.8ms, total=435.8ms, count=1, min=435.8ms, max=435.8ms
-  task_specific_sample: mean=432.4ms, total=432.4ms, count=1, min=432.4ms, max=432.4ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=379.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:09:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:09:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:09:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:09:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:09:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:09:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:09:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:09:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:09:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033167m	[env.py: 870]
-05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:09:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85335772  0.68118735  0.03316732] yaw=-174.2deg	[env.py: 1019]
-05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93868844  0.19831893  0.03316732] yaw=156.9deg	[env.py: 1019]
-05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.83946424  0.03672617  0.03316732] yaw=141.5deg	[env.py: 1019]
-05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:09:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.2ms, total=181.2ms	[env.py: 1075]
-05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.681, 0.033)	[env.py: 1079]
-05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.2 deg	[env.py: 1082]
-05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
-05/10 12:09:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:09:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:09:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:09:12 INFO: [Worker 0] Worker 0 house 1 episode 189/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:09:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:09:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:09:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:09:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:09:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.444s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:09:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.435[m] 85.095[deg]	[grasp_sample.py: 539]
-05/10 12:09:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:09:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:09:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:09:15 INFO: [Worker 0] Worker 0 house 1 episode 182 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:09:16 INFO: [Worker 0] Worker 0 house 1 episode 194 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:09:35 INFO: [Worker 0] Saved videos eagerly for episode 134 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:09:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 12:09:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:09:37 INFO: [Worker 0] Saved videos eagerly for episode 130 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:09:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 12:09:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:09:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:09:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:09:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.28s (batch: 3.94s, save: 8.35s)	[pipeline.py: 300]
-05/10 12:09:48 INFO: [Worker 0] [PROFILE] Episode 182 house 1 success=True episode_total=0.44s:
-  episode_total: mean=216.49s, total=216.49s, count=1, min=216490.8ms, max=216490.8ms
-  sensor_polling: mean=464.2ms, total=139.26s, count=300, min=389.8ms, max=805.4ms
-  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8345.9ms, max=8345.9ms
-  physics_step: mean=20.5ms, total=6.15s, count=300, min=16.3ms, max=50.4ms
-  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3936.1ms, max=3936.1ms
-  task_sampling: mean=440.3ms, total=440.3ms, count=1, min=440.3ms, max=440.3ms
-  task_specific_sample: mean=436.9ms, total=436.9ms, count=1, min=436.9ms, max=436.9ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=373.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:09:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:09:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:09:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:09:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:09:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:09:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:09:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:09:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:09:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012413m	[env.py: 870]
-05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:09:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85356968  0.50452584  0.01241253] yaw=-174.3deg	[env.py: 1019]
-05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77672624  0.36670395  0.01241253] yaw=183.5deg	[env.py: 1019]
-05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93623611  0.90193272  0.01241253] yaw=-143.3deg	[env.py: 1019]
-05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:09:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.4ms, total=207.4ms	[env.py: 1075]
-05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.854, 0.505, 0.012)	[env.py: 1079]
-05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.3 deg	[env.py: 1082]
-05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
-05/10 12:09:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:09:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:09:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:09:51 INFO: [Worker 0] Worker 0 house 1 episode 183/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:09:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:09:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:09:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:09:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:09:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:09:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:09:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.38s (batch: 3.88s, save: 10.50s)	[pipeline.py: 300]
-05/10 12:09:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.002s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:09:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.415[m] 94.527[deg]	[grasp_sample.py: 539]
-05/10 12:09:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:09:52 INFO: [Worker 0] [PROFILE] Episode 194 house 1 success=True episode_total=0.67s:
-  episode_total: mean=109.19s, total=218.38s, count=2, min=2895.3ms, max=215485.5ms
-  sensor_polling: mean=458.3ms, total=137.50s, count=300, min=395.7ms, max=900.1ms
-  save_trajectories: mean=10.50s, total=10.50s, count=1, min=10503.9ms, max=10503.9ms
-  physics_step: mean=22.8ms, total=6.83s, count=300, min=12.4ms, max=77.7ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3875.2ms, max=3875.2ms
-  task_sampling: mean=336.3ms, total=672.5ms, count=2, min=297.1ms, max=375.5ms
-  task_specific_sample: mean=332.8ms, total=665.5ms, count=2, min=294.3ms, max=371.2ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.1ms, max=2.9ms
-  mj_forward_sync: mean=465.7us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=15.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:09:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:09:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:09:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:09:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:09:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:09:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:09:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:09:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:09:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:09:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:09:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:09:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006167m	[env.py: 870]
-05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:09:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 126.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99617275  1.02608033  0.00616698] yaw=-153.5deg	[env.py: 1019]
-05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64545364  0.55818757  0.00616698] yaw=-177.6deg	[env.py: 1019]
-05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.05585905  0.75743022  0.00616698] yaw=-165.4deg	[env.py: 1019]
-05/10 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:09:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=598.7ms, total=598.7ms	[env.py: 1075]
-05/10 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 1.026, 0.006)	[env.py: 1079]
-05/10 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.5 deg	[env.py: 1082]
-05/10 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
-05/10 12:09:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:09:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:09:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:09:55 INFO: [Worker 0] Worker 0 house 1 episode 195/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:09:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:09:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:09:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:09:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:09:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:09:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.996s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:09:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.485[m] 90.365[deg]	[grasp_sample.py: 539]
-05/10 12:09:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:09:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:09:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:10:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:10:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:10:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:10:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:10:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:10:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:10:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:10:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:10:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:10:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:11:33 INFO: [Worker 0] Worker 0 house 1 episode 184 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:11:45 INFO: [Worker 0] Worker 0 house 1 episode 189 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:11:58 INFO: [Worker 0] Saved videos eagerly for episode 139 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:11:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 12:11:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:12:08 INFO: [Worker 0] Saved videos eagerly for episode 142 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:12:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 12:12:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:12:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:12:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:12:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.01s (batch: 4.04s, save: 7.96s)	[pipeline.py: 300]
-05/10 12:12:11 INFO: [Worker 0] [PROFILE] Episode 184 house 1 success=True episode_total=1.59s:
-  episode_total: mean=117.37s, total=352.10s, count=3, min=4959.3ms, max=189131.6ms
-  sensor_polling: mean=456.4ms, total=269.27s, count=590, min=387.6ms, max=1044.5ms
-  physics_step: mean=21.9ms, total=12.90s, count=590, min=13.5ms, max=73.4ms
-  save_trajectories: mean=7.96s, total=7.96s, count=1, min=7964.5ms, max=7964.5ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4041.7ms, max=4041.7ms
-  task_sampling: mean=530.7ms, total=1.59s, count=3, min=382.4ms, max=677.5ms
-  task_specific_sample: mean=526.9ms, total=1.58s, count=3, min=379.0ms, max=672.3ms
-  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.3ms, max=2.3ms
-  mj_forward_sync: mean=467.9us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
-  policy_setup: mean=17.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:12:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:12:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:12:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:12:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:12:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:12:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:12:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009318m	[env.py: 870]
-05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:12:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01114396  1.23827878 -0.00931843] yaw=-131.8deg	[env.py: 1019]
-05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86567862  0.74934453 -0.00931843] yaw=-167.4deg	[env.py: 1019]
-05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88546457  0.09101373 -0.00931843] yaw=160.6deg	[env.py: 1019]
-05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:12:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.2ms, total=98.2ms	[env.py: 1075]
-05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.011, 1.238, -0.009)	[env.py: 1079]
-05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.8 deg	[env.py: 1082]
-05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
-05/10 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:12:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:12:13 INFO: [Worker 0] Worker 0 house 1 episode 185/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:12:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:12:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:12:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:12:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:12:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.791s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:12:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.604[m] 85.799[deg]	[grasp_sample.py: 539]
-05/10 12:12:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:12:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:12:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:12:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:12:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:12:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.70s (batch: 3.90s, save: 7.79s)	[pipeline.py: 300]
-05/10 12:12:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:12:21 INFO: [Worker 0] [PROFILE] Episode 189 house 1 success=True episode_total=0.44s:
-  episode_total: mean=188.89s, total=188.89s, count=1, min=188891.5ms, max=188891.5ms
-  sensor_polling: mean=470.8ms, total=141.23s, count=300, min=398.0ms, max=857.3ms
-  save_trajectories: mean=7.79s, total=7.79s, count=1, min=7793.2ms, max=7793.2ms
-  physics_step: mean=21.2ms, total=6.37s, count=300, min=13.4ms, max=40.7ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3902.0ms, max=3902.0ms
-  task_sampling: mean=436.2ms, total=436.2ms, count=1, min=436.2ms, max=436.2ms
-  task_specific_sample: mean=432.9ms, total=432.9ms, count=1, min=432.9ms, max=432.9ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=381.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:12:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:12:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:12:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:12:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:12:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:12:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:12:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:12:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022092m	[env.py: 870]
-05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:12:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99044148  1.31668829  0.02209239] yaw=-128.2deg	[env.py: 1019]
-05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79717546  0.42446513  0.02209239] yaw=177.9deg	[env.py: 1019]
-05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8486097   0.04009654  0.02209239] yaw=161.5deg	[env.py: 1019]
-05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:12:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=64.3ms, total=64.3ms	[env.py: 1075]
-05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.990, 1.317, 0.022)	[env.py: 1079]
-05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.2 deg	[env.py: 1082]
-05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m	[env.py: 1086]
-05/10 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:12:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:12:22 INFO: [Worker 0] Worker 0 house 1 episode 190/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:12:22 INFO: [Worker 0] Worker 0 house 1 episode 183 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:12:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:12:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:12:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:12:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:12:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:12:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.351s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 12:12:24 ERROR: [Worker 0] Worker 0 house 1 episode 190 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 12:12:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:12:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:12:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:12:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:12:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:12:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:12:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:12:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:12:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:12:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:12:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:12:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033816m	[env.py: 870]
-05/10 12:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:12:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82480954  0.90116768 -0.03381644] yaw=-148.1deg	[env.py: 1019]
-05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95003875  0.98973595 -0.03381644] yaw=-147.3deg	[env.py: 1019]
-05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90137405  0.60729532 -0.03381644] yaw=-173.4deg	[env.py: 1019]
-05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:12:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.0ms, total=185.0ms	[env.py: 1075]
-05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.825, 0.901, -0.034)	[env.py: 1079]
-05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg	[env.py: 1082]
-05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
-05/10 12:12:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:12:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:12:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:12:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:12:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:12:26 INFO: [Worker 0] Worker 0 house 1 episode 191/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:12:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:12:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:12:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:12:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:12:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:12:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.333s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:12:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.515[m] 79.088[deg]	[grasp_sample.py: 539]
-05/10 12:12:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:12:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:12:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:12:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:12:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:12:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:12:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:12:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:12:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:12:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:12:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:12:31 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.385s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:12:31 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.137[deg]	[grasp_sample.py: 539]
-05/10 12:12:32 ERROR: [Worker 0] Worker 0 house 1 episode 195 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 12:12:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:12:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:12:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:12:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:12:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:12:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:12:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032042m	[env.py: 870]
-05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:12:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70103757  0.75001496  0.03204227] yaw=-166.8deg	[env.py: 1019]
-05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84991905  0.09430732  0.03204227] yaw=147.7deg	[env.py: 1019]
-05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97054718  0.62729955  0.03204227] yaw=-171.6deg	[env.py: 1019]
-05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:12:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.2ms, total=151.2ms	[env.py: 1075]
-05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.701, 0.750, 0.032)	[env.py: 1079]
-05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.8 deg	[env.py: 1082]
-05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
-05/10 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:12:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:12:34 INFO: [Worker 0] Worker 0 house 1 episode 196/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:12:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:12:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:12:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:12:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:12:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.376s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:12:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.628[m] 89.723[deg]	[grasp_sample.py: 539]
-05/10 12:12:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:12:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:12:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:12:42 INFO: [Worker 0] Saved videos eagerly for episode 135 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:12:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 12:12:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:12:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:12:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:12:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.47s (batch: 3.90s, save: 7.58s)	[pipeline.py: 300]
-05/10 12:12:54 INFO: [Worker 0] [PROFILE] Episode 183 house 1 success=True episode_total=0.49s:
-  episode_total: mean=183.75s, total=183.75s, count=1, min=183748.4ms, max=183748.4ms
-  sensor_polling: mean=466.4ms, total=139.93s, count=300, min=388.3ms, max=901.6ms
-  save_trajectories: mean=7.58s, total=7.58s, count=1, min=7577.8ms, max=7577.8ms
-  physics_step: mean=21.2ms, total=6.36s, count=300, min=15.6ms, max=67.2ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3897.0ms, max=3897.0ms
-  task_sampling: mean=485.1ms, total=485.1ms, count=1, min=485.1ms, max=485.1ms
-  task_specific_sample: mean=478.6ms, total=478.6ms, count=1, min=478.6ms, max=478.6ms
-  scene_randomize: mean=5.1ms, total=5.1ms, count=1, min=5.1ms, max=5.1ms
-  mj_forward_sync: mean=446.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:12:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:12:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:12:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:12:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:12:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:12:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:12:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:12:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:12:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.030m, effective arm-mount z=0.830m (base_body_z=-0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030100m	[env.py: 870]
-05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:12:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95068634  0.08505145 -0.03010029] yaw=149.2deg	[env.py: 1019]
-05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:12:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=177.2ms, total=177.3ms	[env.py: 1075]
-05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.085, -0.030)	[env.py: 1079]
-05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.2 deg	[env.py: 1082]
-05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
-05/10 12:12:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:12:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:12:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:12:56 INFO: [Worker 0] Worker 0 house 1 episode 184/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:12:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:12:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:12:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:12:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:12:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.797s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:12:57 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.428[m] 91.658[deg]	[grasp_sample.py: 539]
-05/10 12:12:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:12:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:12:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:13:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:13:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:13:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:13:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:13:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:13:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:13:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:13:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:13:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:13:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:13:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:13:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:13:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:13:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:13:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:14:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:14:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:14:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:14:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:14:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:14:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:14:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:14:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:14:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:14:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:14:11 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.521s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:14:11 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.117[m] 2.638[deg]	[grasp_sample.py: 539]
-05/10 12:14:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:14:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:14:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:14:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:14:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:14:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:14:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:14:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:14:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:14:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:14:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:14:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:14:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:14:56 INFO: [Worker 0] Worker 0 house 1 episode 191 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:14:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:14:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:14:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:14:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:14:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:14:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 86 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:15:00 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.859s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 12:15:00 ERROR: [Worker 0] Worker 0 house 1 episode 185 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 12:15:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:15:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:15:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:15:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:15:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:15:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:15:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:15:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:15:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049991m	[env.py: 870]
-05/10 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:15:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98102789  0.47863028  0.04999092] yaw=178.2deg	[env.py: 1019]
-05/10 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85674389  0.7338865   0.04999092] yaw=-160.4deg	[env.py: 1019]
-05/10 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.95171118  1.16933356  0.04999092] yaw=-139.5deg	[env.py: 1019]
-05/10 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:15:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=672.7ms, total=672.8ms	[env.py: 1075]
-05/10 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.981, 0.479, 0.050)	[env.py: 1079]
-05/10 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.2 deg	[env.py: 1082]
-05/10 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.721m	[env.py: 1086]
-05/10 12:15:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:15:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:15:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:15:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:15:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:15:03 INFO: [Worker 0] Worker 0 house 1 episode 186/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:15:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:15:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:15:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:15:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:15:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.461s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:15:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.282[m] 97.060[deg]	[grasp_sample.py: 539]
-05/10 12:15:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:15:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:15:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:15:05 INFO: [Worker 0] Worker 0 house 1 episode 196 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:15:19 INFO: [Worker 0] Saved videos eagerly for episode 143 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:15:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 12:15:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:15:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:15:28 INFO: [Worker 0] Saved videos eagerly for episode 131 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:15:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 12:15:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:15:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:15:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:15:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:15:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:15:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:15:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:15:32 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.89s (batch: 3.75s, save: 9.14s)	[pipeline.py: 300]
-05/10 12:15:33 INFO: [Worker 0] [PROFILE] Episode 191 house 1 success=True episode_total=0.73s:
-  episode_total: mean=94.62s, total=189.23s, count=2, min=1789.3ms, max=187444.2ms
-  sensor_polling: mean=461.8ms, total=138.55s, count=300, min=392.4ms, max=879.3ms
-  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9145.0ms, max=9145.0ms
-  physics_step: mean=21.9ms, total=6.56s, count=300, min=13.5ms, max=67.4ms
-  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3747.5ms, max=3747.5ms
-  task_sampling: mean=365.6ms, total=731.2ms, count=2, min=320.0ms, max=411.2ms
-  task_specific_sample: mean=362.6ms, total=725.1ms, count=2, min=316.6ms, max=408.5ms
-  scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=1.1ms, max=2.2ms
-  mj_forward_sync: mean=379.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:15:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:15:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:15:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:15:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:15:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:15:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:15:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:15:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:15:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:15:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041528m	[env.py: 870]
-05/10 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:15:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87493598  0.73494616 -0.04152822] yaw=-172.1deg	[env.py: 1019]
-05/10 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81150372  0.82986456 -0.04152822] yaw=-159.5deg	[env.py: 1019]
-05/10 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.05722232  0.88662068 -0.04152822] yaw=-145.7deg	[env.py: 1019]
-05/10 12:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:15:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.1ms, total=156.2ms	[env.py: 1075]
-05/10 12:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.875, 0.735, -0.042)	[env.py: 1079]
-05/10 12:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.1 deg	[env.py: 1082]
-05/10 12:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
-05/10 12:15:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:15:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:15:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:15:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:15:35 INFO: [Worker 0] Worker 0 house 1 episode 192/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:15:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:15:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:15:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:15:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:15:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.453s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:15:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.458[m] 84.588[deg]	[grasp_sample.py: 539]
-05/10 12:15:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:15:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:15:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:15:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:15:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:15:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:15:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:15:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:15:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:15:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:15:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:15:38 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.431s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:15:38 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.137[deg]	[grasp_sample.py: 539]
-05/10 12:15:39 ERROR: [Worker 0] Worker 0 house 1 episode 184 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 12:15:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:15:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:15:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.95s (batch: 4.16s, save: 7.78s)	[pipeline.py: 300]
-05/10 12:15:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:15:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:15:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:15:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:15:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:15:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:15:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:15:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:15:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041317m	[env.py: 870]
-05/10 12:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:15:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79611516  0.07705792 -0.04131699] yaw=148.3deg	[env.py: 1019]
-05/10 12:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80166316  0.43450711 -0.04131699] yaw=185.8deg	[env.py: 1019]
-05/10 12:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08134088  0.81014025 -0.04131699] yaw=-144.0deg	[env.py: 1019]
-05/10 12:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:15:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=243.3ms, total=243.3ms	[env.py: 1075]
-05/10 12:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.077, -0.041)	[env.py: 1079]
-05/10 12:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.3 deg	[env.py: 1082]
-05/10 12:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
-05/10 12:15:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:15:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:15:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:15:41 INFO: [Worker 0] Worker 0 house 1 episode 185/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:15:41 INFO: [Worker 0] [PROFILE] Episode 196 house 1 success=True episode_total=1.23s:
-  episode_total: mean=172.80s, total=345.61s, count=2, min=158426.4ms, max=187182.6ms
-  sensor_polling: mean=462.9ms, total=275.89s, count=596, min=383.8ms, max=1005.3ms
-  physics_step: mean=21.0ms, total=12.52s, count=596, min=16.3ms, max=82.6ms
-  save_trajectories: mean=7.78s, total=7.78s, count=1, min=7784.6ms, max=7784.6ms
-  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4160.6ms, max=4160.6ms
-  task_sampling: mean=617.1ms, total=1.23s, count=2, min=344.7ms, max=889.4ms
-  task_specific_sample: mean=610.7ms, total=1.22s, count=2, min=341.2ms, max=880.2ms
-  scene_randomize: mean=4.5ms, total=9.1ms, count=2, min=1.5ms, max=7.6ms
-  mj_forward_sync: mean=659.6us, total=1.3ms, count=2, min=0.6ms, max=0.7ms
-  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:15:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:15:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:15:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:15:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:15:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:15:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:15:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:15:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:15:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:15:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:15:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:15:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:15:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:15:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020319m	[env.py: 870]
-05/10 12:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:15:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71529579  0.85348741  0.02031885] yaw=-150.1deg	[env.py: 1019]
-05/10 12:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81102238  1.09900148  0.02031885] yaw=-141.6deg	[env.py: 1019]
-05/10 12:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.61016201  0.36022769  0.02031885] yaw=184.9deg	[env.py: 1019]
-05/10 12:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:15:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.6ms, total=199.6ms	[env.py: 1075]
-05/10 12:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.853, 0.020)	[env.py: 1079]
-05/10 12:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.1 deg	[env.py: 1082]
-05/10 12:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
-05/10 12:15:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:15:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:15:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:15:43 INFO: [Worker 0] Worker 0 house 1 episode 197/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:15:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:15:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:15:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:15:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:15:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.459s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:15:44 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.628[m] 104.418[deg]	[grasp_sample.py: 539]
-05/10 12:15:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:15:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:15:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:15:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.439s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:15:47 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.645[m] 88.508[deg]	[grasp_sample.py: 539]
-05/10 12:15:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:15:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:15:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:16:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:16:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:16:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:16:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:16:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:16:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:17:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:17:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:17:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:17:31 INFO: [Worker 0] Worker 0 house 1 episode 186 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:17:56 INFO: [Worker 0] Saved videos eagerly for episode 140 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:17:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 12:17:56 INFO: [Worker 0] Preparing episode data: 278 timesteps	[save_utils.py: 278]
-05/10 12:18:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:18:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:18:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.68s (batch: 3.92s, save: 7.76s)	[pipeline.py: 300]
-05/10 12:18:08 INFO: [Worker 0] Worker 0 house 1 episode 192 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:18:08 INFO: [Worker 0] [PROFILE] Episode 186 house 1 success=True episode_total=1.34s:
-  episode_total: mean=177.01s, total=354.03s, count=2, min=167864.4ms, max=186161.6ms
-  sensor_polling: mean=454.7ms, total=255.55s, count=562, min=373.4ms, max=871.9ms
-  physics_step: mean=22.4ms, total=12.58s, count=562, min=13.9ms, max=80.1ms
-  save_trajectories: mean=7.76s, total=7.76s, count=1, min=7763.7ms, max=7763.7ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3920.3ms, max=3920.3ms
-  task_sampling: mean=670.5ms, total=1.34s, count=2, min=382.9ms, max=958.1ms
-  task_specific_sample: mean=667.1ms, total=1.33s, count=2, min=379.4ms, max=954.8ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.4ms, max=2.4ms
-  mj_forward_sync: mean=447.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:18:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:18:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:18:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:18:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:18:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:18:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:18:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:18:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:18:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:18:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:18:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045686m	[env.py: 870]
-05/10 12:18:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:18:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69910938  0.63017259  0.04568626] yaw=-164.7deg	[env.py: 1019]
-05/10 12:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73148002  0.82089168  0.04568626] yaw=-149.7deg	[env.py: 1019]
-05/10 12:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98466055  0.96689853  0.04568626] yaw=-143.0deg	[env.py: 1019]
-05/10 12:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:18:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=245.7ms, total=245.8ms	[env.py: 1075]
-05/10 12:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.699, 0.630, 0.046)	[env.py: 1079]
-05/10 12:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.7 deg	[env.py: 1082]
-05/10 12:18:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
-05/10 12:18:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:18:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:18:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:18:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:18:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:18:10 INFO: [Worker 0] Worker 0 house 1 episode 187/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:18:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:18:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:18:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:18:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:18:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.564s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:18:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.521[m] 77.008[deg]	[grasp_sample.py: 539]
-05/10 12:18:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:18:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:18:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:18:12 INFO: [Worker 0] Worker 0 house 1 episode 185 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:18:15 INFO: [Worker 0] Worker 0 house 1 episode 197 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:18:32 INFO: [Worker 0] Saved videos eagerly for episode 144 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:18:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 12:18:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:18:35 INFO: [Worker 0] Saved videos eagerly for episode 136 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:18:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 12:18:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:18:39 INFO: [Worker 0] Saved videos eagerly for episode 132 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:18:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 12:18:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:18:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:18:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:18:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.96s (batch: 4.01s, save: 7.95s)	[pipeline.py: 300]
-05/10 12:18:45 INFO: [Worker 0] [PROFILE] Episode 192 house 1 success=True episode_total=0.40s:
-  episode_total: mean=190.46s, total=190.46s, count=1, min=190459.6ms, max=190459.6ms
-  sensor_polling: mean=475.5ms, total=142.64s, count=300, min=394.6ms, max=938.0ms
-  save_trajectories: mean=7.95s, total=7.95s, count=1, min=7951.0ms, max=7951.0ms
-  physics_step: mean=21.3ms, total=6.40s, count=300, min=13.6ms, max=48.3ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4009.0ms, max=4009.0ms
-  task_sampling: mean=399.9ms, total=399.9ms, count=1, min=399.9ms, max=399.9ms
-  task_specific_sample: mean=396.6ms, total=396.6ms, count=1, min=396.6ms, max=396.6ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=369.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:18:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:18:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:18:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.49s (batch: 3.74s, save: 7.75s)	[pipeline.py: 300]
-05/10 12:18:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:18:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:18:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:18:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:18:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:18:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:18:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:18:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:18:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018808m	[env.py: 870]
-05/10 12:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:18:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05914222  1.03788656 -0.01880849] yaw=-145.7deg	[env.py: 1019]
-05/10 12:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.6330188   0.66183196 -0.01880849] yaw=-160.2deg	[env.py: 1019]
-05/10 12:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83564222  1.10075553 -0.01880849] yaw=-141.0deg	[env.py: 1019]
-05/10 12:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:18:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=75.5ms, total=75.6ms	[env.py: 1075]
-05/10 12:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.059, 1.038, -0.019)	[env.py: 1079]
-05/10 12:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.7 deg	[env.py: 1082]
-05/10 12:18:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
-05/10 12:18:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:18:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:18:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:18:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:18:47 INFO: [Worker 0] Worker 0 house 1 episode 193/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:18:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:18:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:18:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:18:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:18:47 INFO: [Worker 0] [PROFILE] Episode 185 house 1 success=True episode_total=1.00s:
-  episode_total: mean=174.86s, total=349.73s, count=2, min=163221.1ms, max=186506.8ms
-  sensor_polling: mean=469.3ms, total=278.77s, count=594, min=384.2ms, max=864.4ms
-  physics_step: mean=21.6ms, total=12.86s, count=594, min=13.3ms, max=67.3ms
-  save_trajectories: mean=7.75s, total=7.75s, count=1, min=7746.4ms, max=7746.4ms
-  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3739.3ms, max=3739.3ms
-  task_sampling: mean=498.8ms, total=997.6ms, count=2, min=458.6ms, max=539.0ms
-  task_specific_sample: mean=494.9ms, total=989.7ms, count=2, min=454.9ms, max=534.9ms
-  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=2.2ms, max=2.3ms
-  mj_forward_sync: mean=512.9us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:18:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.944s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:18:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.408[m] 84.063[deg]	[grasp_sample.py: 539]
-05/10 12:18:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:18:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:18:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:18:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:18:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:18:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:18:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:18:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:18:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:18:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:18:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:18:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:18:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:18:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033604m	[env.py: 870]
-05/10 12:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:18:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95773229  0.34368311  0.03360398] yaw=179.7deg	[env.py: 1019]
-05/10 12:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:18:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=396.3ms, total=396.4ms	[env.py: 1075]
-05/10 12:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.344, 0.034)	[env.py: 1079]
-05/10 12:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.7 deg	[env.py: 1082]
-05/10 12:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.757m	[env.py: 1086]
-05/10 12:18:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:18:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:18:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:18:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:18:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:18:50 INFO: [Worker 0] Worker 0 house 1 episode 186/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:18:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:18:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:18:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:18:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:18:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.455s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:18:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.319[m] 86.435[deg]	[grasp_sample.py: 539]
-05/10 12:18:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:18:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:18:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:18:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:18:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:18:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.61s (batch: 3.93s, save: 8.69s)	[pipeline.py: 300]
-05/10 12:18:53 INFO: [Worker 0] [PROFILE] Episode 197 house 1 success=True episode_total=0.53s:
-  episode_total: mean=189.85s, total=189.85s, count=1, min=189846.5ms, max=189846.5ms
-  sensor_polling: mean=461.0ms, total=138.30s, count=300, min=386.8ms, max=869.9ms
-  save_trajectories: mean=8.69s, total=8.69s, count=1, min=8688.8ms, max=8688.8ms
-  physics_step: mean=21.1ms, total=6.32s, count=300, min=13.3ms, max=69.5ms
-  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3925.1ms, max=3925.1ms
-  task_sampling: mean=529.0ms, total=529.0ms, count=1, min=529.0ms, max=529.0ms
-  task_specific_sample: mean=523.6ms, total=523.6ms, count=1, min=523.6ms, max=523.6ms
-  scene_randomize: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
-  mj_forward_sync: mean=603.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:18:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:18:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:18:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:18:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:18:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:18:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:18:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:18:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:18:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:18:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:18:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005929m	[env.py: 870]
-05/10 12:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:18:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99773231  0.52987996 -0.00592912] yaw=-185.5deg	[env.py: 1019]
-05/10 12:18:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:18:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.0ms, total=208.1ms	[env.py: 1075]
-05/10 12:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.998, 0.530, -0.006)	[env.py: 1079]
-05/10 12:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.5 deg	[env.py: 1082]
-05/10 12:18:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.706m	[env.py: 1086]
-05/10 12:18:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:18:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:18:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:18:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:18:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:18:55 INFO: [Worker 0] Worker 0 house 1 episode 198/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:18:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:18:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:18:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:18:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:18:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.397s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:18:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.254[m] 83.956[deg]	[grasp_sample.py: 539]
-05/10 12:18:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:18:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:18:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:18:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:19:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:19:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:19:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:19:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:19:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:19:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:19:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:19:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:19:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:19:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:19:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:20:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:20:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:20:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:20:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:20:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.330s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:20:15 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.701[deg]	[grasp_sample.py: 539]
-05/10 12:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:20:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:20:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:20:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:20:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:20:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:20:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:20:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:20:30 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.374s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:20:30 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.535[deg]	[grasp_sample.py: 539]
-05/10 12:20:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:20:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:20:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:20:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:20:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:20:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:20:31 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.346s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:20:31 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.705[deg]	[grasp_sample.py: 539]
-05/10 12:20:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:20:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:20:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:20:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:20:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:42 INFO: [Worker 0] Worker 0 house 1 episode 187 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:20:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:20:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:20:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:20:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:20:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:20:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:20:53 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.718s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:20:53 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.705[deg]	[grasp_sample.py: 539]
-05/10 12:20:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:20:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:20:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:20:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:20:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:21:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:21:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:21:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:21:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:21:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:21:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:21:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:21:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:21:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:21:06 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
-05/10 12:21:07 INFO: [Worker 0] Worker 0 house 1 episode 186 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
-05/10 12:21:07 INFO: [Worker 0] [PROFILE] Episode 186 house 1 success=False episode_total=0.69s:
-  episode_total: mean=137.85s, total=137.85s, count=1, min=137854.7ms, max=137854.7ms
-  sensor_polling: mean=474.2ms, total=84.88s, count=179, min=408.1ms, max=909.7ms
-  physics_step: mean=20.9ms, total=3.75s, count=179, min=11.6ms, max=51.4ms
-  task_sampling: mean=690.8ms, total=690.8ms, count=1, min=690.8ms, max=690.8ms
-  task_specific_sample: mean=686.7ms, total=686.7ms, count=1, min=686.7ms, max=686.7ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=547.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:21:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:21:08 INFO: [Worker 0] Saved videos eagerly for episode 141 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:21:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 12:21:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:21:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:21:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:21:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:21:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:21:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:21:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:21:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:21:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:21:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001079m	[env.py: 870]
-05/10 12:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:21:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90837131  0.91916451 -0.00107948] yaw=-156.1deg	[env.py: 1019]
-05/10 12:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88315425  0.30283109 -0.00107948] yaw=169.0deg	[env.py: 1019]
-05/10 12:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.23890241e+00  1.04743617e+00 -1.07947590e-03] yaw=-127.7deg	[env.py: 1019]
-05/10 12:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:21:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.6ms, total=91.6ms	[env.py: 1075]
-05/10 12:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.908, 0.919, -0.001)	[env.py: 1079]
-05/10 12:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.1 deg	[env.py: 1082]
-05/10 12:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
-05/10 12:21:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:21:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:21:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:21:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:21:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:21:09 INFO: [Worker 0] Worker 0 house 1 episode 187/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:21:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:21:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:21:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:21:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:21:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:21:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.526s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:21:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.477[m] 85.744[deg]	[grasp_sample.py: 539]
-05/10 12:21:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:21:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:21:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:21:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:21:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:21:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:21:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:21:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:21:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:21:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:21:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:21:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:21:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:21:18 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.471s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:21:18 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.236[deg]	[grasp_sample.py: 539]
-05/10 12:21:19 ERROR: [Worker 0] Worker 0 house 1 episode 193 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 12:21:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:21:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:21:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.63s (batch: 4.03s, save: 7.61s)	[pipeline.py: 300]
-05/10 12:21:20 INFO: [Worker 0] [PROFILE] Episode 187 house 1 success=True episode_total=0.52s:
-  episode_total: mean=190.70s, total=190.70s, count=1, min=190695.2ms, max=190695.2ms
-  sensor_polling: mean=471.3ms, total=141.40s, count=300, min=380.7ms, max=903.5ms
-  save_trajectories: mean=7.61s, total=7.61s, count=1, min=7607.1ms, max=7607.1ms
-  physics_step: mean=22.0ms, total=6.60s, count=300, min=13.5ms, max=73.9ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4026.0ms, max=4026.0ms
-  task_sampling: mean=518.5ms, total=518.5ms, count=1, min=518.5ms, max=518.5ms
-  task_specific_sample: mean=515.1ms, total=515.1ms, count=1, min=515.1ms, max=515.1ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=377.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:21:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:21:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:21:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:21:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:21:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:21:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:21:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:21:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:21:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:21:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:21:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032439m	[env.py: 870]
-05/10 12:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:21:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96827067  0.15301136  0.03243871] yaw=164.4deg	[env.py: 1019]
-05/10 12:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97388435  0.36776306  0.03243871] yaw=176.1deg	[env.py: 1019]
-05/10 12:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.65370143  0.21960374  0.03243871] yaw=168.0deg	[env.py: 1019]
-05/10 12:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:21:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=344.3ms, total=344.4ms	[env.py: 1075]
-05/10 12:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.968, 0.153, 0.032)	[env.py: 1079]
-05/10 12:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.4 deg	[env.py: 1082]
-05/10 12:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
-05/10 12:21:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:21:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:21:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:21:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:21:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:21:21 INFO: [Worker 0] Worker 0 house 1 episode 194/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:21:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:21:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:21:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:21:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:21:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:21:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:21:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:21:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:21:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:21:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:21:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:21:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:21:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:21:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:21:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.037916m	[env.py: 870]
-05/10 12:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:21:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:21:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.066s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:21:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.377[m] 94.426[deg]	[grasp_sample.py: 539]
-05/10 12:21:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04192502  1.21987359 -0.03791555] yaw=-133.2deg	[env.py: 1019]
-05/10 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93789258  0.11214415 -0.03791555] yaw=145.7deg	[env.py: 1019]
-05/10 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:21:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=669.7ms, total=669.8ms	[env.py: 1075]
-05/10 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.042, 1.220, -0.038)	[env.py: 1079]
-05/10 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.2 deg	[env.py: 1082]
-05/10 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
-05/10 12:21:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:21:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:21:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:21:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:21:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:21:23 INFO: [Worker 0] Worker 0 house 1 episode 188/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:21:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:21:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:21:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:21:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:21:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.675s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:21:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.576[m] 87.990[deg]	[grasp_sample.py: 539]
-05/10 12:21:26 ERROR: [Worker 0] Worker 0 house 1 episode 188 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 12:21:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:21:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:21:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:21:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:21:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:21:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:21:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:21:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:21:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022877m	[env.py: 870]
-05/10 12:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:21:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07672462  1.15539554  0.02287696] yaw=-125.9deg	[env.py: 1019]
-05/10 12:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96646682  0.71874733  0.02287696] yaw=-152.6deg	[env.py: 1019]
-05/10 12:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.20783956  1.07864849  0.02287696] yaw=-130.2deg	[env.py: 1019]
-05/10 12:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:21:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=424.3ms, total=424.3ms	[env.py: 1075]
-05/10 12:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.077, 1.155, 0.023)	[env.py: 1079]
-05/10 12:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.9 deg	[env.py: 1082]
-05/10 12:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
-05/10 12:21:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:21:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:21:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:21:29 INFO: [Worker 0] Worker 0 house 1 episode 189/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:21:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:21:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:21:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:21:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:21:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.315s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:21:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.501[m] 87.557[deg]	[grasp_sample.py: 539]
-05/10 12:21:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:21:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:21:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:21:56 INFO: [Worker 0] Worker 0 house 1 episode 198 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:21:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:22:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:22:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:22:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:22:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:22:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:22:17 INFO: [Worker 0] Saved videos eagerly for episode 133 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:22:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 12:22:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:22:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:22:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:22:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:22:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:22:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.07s (batch: 4.11s, save: 11.96s)	[pipeline.py: 300]
-05/10 12:22:34 INFO: [Worker 0] [PROFILE] Episode 198 house 1 success=True episode_total=0.45s:
-  episode_total: mean=220.04s, total=220.04s, count=1, min=220037.5ms, max=220037.5ms
-  sensor_polling: mean=480.7ms, total=144.20s, count=300, min=400.0ms, max=1017.9ms
-  save_trajectories: mean=11.96s, total=11.96s, count=1, min=11961.6ms, max=11961.6ms
-  physics_step: mean=23.5ms, total=7.06s, count=300, min=11.9ms, max=72.8ms
-  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4109.3ms, max=4109.3ms
-  task_sampling: mean=454.7ms, total=454.7ms, count=1, min=454.7ms, max=454.7ms
-  task_specific_sample: mean=451.4ms, total=451.4ms, count=1, min=451.4ms, max=451.4ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=374.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:22:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:22:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:22:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:22:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:22:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:22:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:22:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:22:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:22:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:22:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:22:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:22:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016696m	[env.py: 870]
-05/10 12:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:22:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87149735  1.05686637  0.01669599] yaw=-155.8deg	[env.py: 1019]
-05/10 12:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66570825  0.13115797  0.01669599] yaw=168.3deg	[env.py: 1019]
-05/10 12:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.98957188  0.8937606   0.01669599] yaw=-141.7deg	[env.py: 1019]
-05/10 12:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:22:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=533.6ms, total=533.7ms	[env.py: 1075]
-05/10 12:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.871, 1.057, 0.017)	[env.py: 1079]
-05/10 12:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.8 deg	[env.py: 1082]
-05/10 12:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
-05/10 12:22:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:22:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:22:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:22:37 INFO: [Worker 0] Worker 0 house 1 episode 199/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:22:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:22:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:22:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:22:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:22:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.703s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:22:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.580[m] 88.291[deg]	[grasp_sample.py: 539]
-05/10 12:22:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:22:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:22:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:22:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:22:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:22:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:22:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:23:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:23:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:23:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:23:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:23:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:23:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:23:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:23:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:23:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:23:08 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.372s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:23:08 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.247[deg]	[grasp_sample.py: 539]
-05/10 12:23:09 ERROR: [Worker 0] Worker 0 house 1 episode 194 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 12:23:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:23:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:23:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:23:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:23:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:23:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:23:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:23:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:23:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:23:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:23:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006014m	[env.py: 870]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:23:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.16382846  1.11796734 -0.00601393] yaw=-129.5deg	[env.py: 1019]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81366585  1.01456861 -0.00601393] yaw=-146.1deg	[env.py: 1019]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74907876  0.76201239 -0.00601393] yaw=-169.1deg	[env.py: 1019]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:23:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.3ms, total=164.4ms	[env.py: 1075]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.164, 1.118, -0.006)	[env.py: 1079]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.5 deg	[env.py: 1082]
-05/10 12:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
-05/10 12:23:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:23:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:23:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:23:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:23:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:23:11 INFO: [Worker 0] Worker 0 house 1 episode 195/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:23:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:23:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:23:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:23:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:23:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.749s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:23:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.412[m] 85.994[deg]	[grasp_sample.py: 539]
-05/10 12:23:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:23:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:23:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:23:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:23:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:23:38 INFO: [Worker 0] Worker 0 house 1 episode 187 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:23:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:23:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:23:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:23:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:23:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:23:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:23:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:23:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:23:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:23:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:23:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:23:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:23:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:23:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:23:49 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.391s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:23:49 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.291[deg]	[grasp_sample.py: 539]
-05/10 12:23:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:23:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:23:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:23:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:23:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:24:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:24:00 INFO: [Worker 0] Saved videos eagerly for episode 137 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:24:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 12:24:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:24:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:24:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:24:11 INFO: [Worker 0] Worker 0 house 1 episode 189 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:24:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:24:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:24:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.58s (batch: 4.94s, save: 9.65s)	[pipeline.py: 300]
-05/10 12:24:15 INFO: [Worker 0] [PROFILE] Episode 187 house 1 success=True episode_total=0.33s:
-  episode_total: mean=186.94s, total=186.94s, count=1, min=186944.9ms, max=186944.9ms
-  sensor_polling: mean=464.0ms, total=139.21s, count=300, min=373.6ms, max=934.6ms
-  save_trajectories: mean=9.65s, total=9.65s, count=1, min=9646.5ms, max=9646.5ms
-  physics_step: mean=21.0ms, total=6.29s, count=300, min=16.5ms, max=41.8ms
-  save_batch_prep: mean=4.94s, total=4.94s, count=1, min=4936.2ms, max=4936.2ms
-  task_sampling: mean=327.3ms, total=327.3ms, count=1, min=327.3ms, max=327.3ms
-  task_specific_sample: mean=323.8ms, total=323.8ms, count=1, min=323.8ms, max=323.8ms
-  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
-  mj_forward_sync: mean=520.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=13.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:24:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:24:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:24:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:24:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:24:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:24:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:24:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:24:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:24:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:24:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:24:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042842m	[env.py: 870]
-05/10 12:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:24:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99910969  1.04461053  0.04284202] yaw=-151.6deg	[env.py: 1019]
-05/10 12:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73248718  0.0466545   0.04284202] yaw=161.6deg	[env.py: 1019]
-05/10 12:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15437215  1.01943289  0.04284202] yaw=-127.2deg	[env.py: 1019]
-05/10 12:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:24:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.0ms, total=109.1ms	[env.py: 1075]
-05/10 12:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.999, 1.045, 0.043)	[env.py: 1079]
-05/10 12:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.6 deg	[env.py: 1082]
-05/10 12:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
-05/10 12:24:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:24:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:24:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:24:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:24:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:24:17 INFO: [Worker 0] Worker 0 house 1 episode 188/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:24:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:24:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:24:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:24:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:24:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.481s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:24:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.483[m] 87.121[deg]	[grasp_sample.py: 539]
-05/10 12:24:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:24:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:24:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:24:33 INFO: [Worker 0] Saved videos eagerly for episode 142 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:24:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 12:24:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:24:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:24:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:24:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.15s (batch: 4.90s, save: 8.25s)	[pipeline.py: 300]
-05/10 12:24:47 INFO: [Worker 0] [PROFILE] Episode 189 house 1 success=True episode_total=1.71s:
-  episode_total: mean=101.63s, total=203.27s, count=2, min=3958.2ms, max=199308.6ms
-  sensor_polling: mean=464.5ms, total=139.36s, count=300, min=400.2ms, max=796.6ms
-  save_trajectories: mean=8.25s, total=8.25s, count=1, min=8254.4ms, max=8254.4ms
-  physics_step: mean=22.1ms, total=6.64s, count=300, min=17.1ms, max=64.4ms
-  save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4900.5ms, max=4900.5ms
-  task_sampling: mean=856.0ms, total=1.71s, count=2, min=751.7ms, max=960.4ms
-  task_specific_sample: mean=850.5ms, total=1.70s, count=2, min=744.5ms, max=956.6ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=470.7us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:24:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:24:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:24:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:24:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:24:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:24:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:24:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:24:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:24:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020151m	[env.py: 870]
-05/10 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:24:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99994552  0.88158669 -0.02015091] yaw=-154.7deg	[env.py: 1019]
-05/10 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74500035  0.49733518 -0.02015091] yaw=-184.6deg	[env.py: 1019]
-05/10 12:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72095248  0.4549617  -0.02015091] yaw=170.7deg	[env.py: 1019]
-05/10 12:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:24:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=763.1ms, total=763.1ms	[env.py: 1075]
-05/10 12:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.000, 0.882, -0.020)	[env.py: 1079]
-05/10 12:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.7 deg	[env.py: 1082]
-05/10 12:24:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
-05/10 12:24:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:24:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:24:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:24:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:24:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:24:50 INFO: [Worker 0] Worker 0 house 1 episode 190/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:24:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:24:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:24:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:24:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:24:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.511s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:24:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.402[m] 91.286[deg]	[grasp_sample.py: 539]
-05/10 12:24:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:24:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:24:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:25:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:25:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:25:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:25:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:25:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:25:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:25:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:25:11 INFO: [Worker 0] Worker 0 house 1 episode 199 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:25:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:25:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:25:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:25:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:25:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:25:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:25:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:25:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:25:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:25:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:25:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:25:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:25:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 74 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:25:24 INFO: [Worker 0] Feasibility-checked 74 grasps in 3.309s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:25:24 ERROR: [Worker 0] Worker 0 house 1 episode 195 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
-05/10 12:25:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:25:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:25:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:25:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:25:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:25:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:25:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:25:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:25:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:25:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:25:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005481m	[env.py: 870]
-05/10 12:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:25:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01462841  0.88865382  0.00548143] yaw=-142.4deg	[env.py: 1019]
-05/10 12:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69564097  0.44682179  0.00548143] yaw=175.8deg	[env.py: 1019]
-05/10 12:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83796835  0.14565837  0.00548143] yaw=164.6deg	[env.py: 1019]
-05/10 12:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:25:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=89.1ms, total=89.1ms	[env.py: 1075]
-05/10 12:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.015, 0.889, 0.005)	[env.py: 1079]
-05/10 12:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.4 deg	[env.py: 1082]
-05/10 12:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.799m	[env.py: 1086]
-05/10 12:25:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:25:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:25:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:25:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:25:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:25:26 INFO: [Worker 0] Worker 0 house 1 episode 196/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:25:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:25:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:25:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:25:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:25:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:25:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.383[m] 88.969[deg]	[grasp_sample.py: 539]
-05/10 12:25:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:25:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:25:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:25:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:25:38 INFO: [Worker 0] Saved videos eagerly for episode 134 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:25:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 12:25:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:25:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:25:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:25:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:25:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:25:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.50s (batch: 4.90s, save: 8.60s)	[pipeline.py: 300]
-05/10 12:25:52 INFO: [Worker 0] [PROFILE] Episode 199 house 1 success=True episode_total=0.80s:
-  episode_total: mean=196.24s, total=196.24s, count=1, min=196236.1ms, max=196236.1ms
-  sensor_polling: mean=462.5ms, total=138.74s, count=300, min=390.7ms, max=772.2ms
-  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8595.9ms, max=8595.9ms
-  physics_step: mean=21.4ms, total=6.41s, count=300, min=14.6ms, max=59.1ms
-  save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4902.7ms, max=4902.7ms
-  task_sampling: mean=800.5ms, total=800.5ms, count=1, min=800.5ms, max=800.5ms
-  task_specific_sample: mean=796.0ms, total=796.0ms, count=1, min=796.0ms, max=796.0ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=568.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:25:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:25:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:25:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:25:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:25:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:25:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:25:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:25:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:25:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039610m	[env.py: 870]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:25:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.63415883  0.71970644 -0.03961034] yaw=-176.9deg	[env.py: 1019]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84853891  0.07723294 -0.03961034] yaw=151.7deg	[env.py: 1019]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78680182  0.64175456 -0.03961034] yaw=-180.6deg	[env.py: 1019]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:25:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=361.2ms, total=361.2ms	[env.py: 1075]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.634, 0.720, -0.040)	[env.py: 1079]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.9 deg	[env.py: 1082]
-05/10 12:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
-05/10 12:25:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:25:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:25:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:25:54 INFO: [Worker 0] Worker 0 house 1 episode 200/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:25:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:25:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:25:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:25:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:25:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.603s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:25:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.677[m] 90.040[deg]	[grasp_sample.py: 539]
-05/10 12:25:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:25:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:25:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:26:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:26:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:26:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:26:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:26:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:26:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:26:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:26:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:26:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:26:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:26:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:26:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:26:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:26:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:26:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:26:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:26:57 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.573s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:26:57 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.231[deg]	[grasp_sample.py: 539]
-05/10 12:26:58 ERROR: [Worker 0] Worker 0 house 1 episode 188 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 12:27:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:27:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:27:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:27:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:27:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:27:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:27:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:27:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:27:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022814m	[env.py: 870]
-05/10 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:27:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07393763  1.26259849  0.02281419] yaw=-131.9deg	[env.py: 1019]
-05/10 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01030409  1.3164284   0.02281419] yaw=-136.3deg	[env.py: 1019]
-05/10 12:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.63132444  0.27002552  0.02281419] yaw=169.2deg	[env.py: 1019]
-05/10 12:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:27:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=388.3ms, total=388.3ms	[env.py: 1075]
-05/10 12:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.074, 1.263, 0.023)	[env.py: 1079]
-05/10 12:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg	[env.py: 1082]
-05/10 12:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
-05/10 12:27:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:27:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:27:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:27:01 INFO: [Worker 0] Worker 0 house 1 episode 189/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:27:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:27:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:27:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:27:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:27:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.679s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:27:04 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.611[m] 89.700[deg]	[grasp_sample.py: 539]
-05/10 12:27:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:27:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:27:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:27:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:27:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:27:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:27:26 INFO: [Worker 0] Worker 0 house 1 episode 190 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:27:49 INFO: [Worker 0] Saved videos eagerly for episode 143 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:27:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 12:27:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:27:58 INFO: [Worker 0] Worker 0 house 1 episode 196 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:28:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:28:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:28:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:28:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.63s (batch: 4.25s, save: 9.38s)	[pipeline.py: 300]
-05/10 12:28:04 INFO: [Worker 0] [PROFILE] Episode 190 house 1 success=True episode_total=1.05s:
-  episode_total: mean=194.98s, total=194.98s, count=1, min=194983.8ms, max=194983.8ms
-  sensor_polling: mean=483.6ms, total=145.07s, count=300, min=401.0ms, max=833.0ms
-  save_trajectories: mean=9.38s, total=9.38s, count=1, min=9384.3ms, max=9384.3ms
-  physics_step: mean=22.9ms, total=6.88s, count=300, min=17.0ms, max=74.0ms
-  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4247.1ms, max=4247.1ms
-  task_sampling: mean=1.05s, total=1.05s, count=1, min=1050.1ms, max=1050.1ms
-  task_specific_sample: mean=1.04s, total=1.04s, count=1, min=1043.3ms, max=1043.3ms
-  scene_randomize: mean=5.1ms, total=5.1ms, count=1, min=5.1ms, max=5.1ms
-  mj_forward_sync: mean=507.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=39.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:28:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:28:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:28:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:28:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:28:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:28:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:28:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:28:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:28:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029875m	[env.py: 870]
-05/10 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:28:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95604663  0.16267757  0.02987549] yaw=156.2deg	[env.py: 1019]
-05/10 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.63777374  0.53504326  0.02987549] yaw=-178.1deg	[env.py: 1019]
-05/10 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91217044  0.93152974  0.02987549] yaw=-156.4deg	[env.py: 1019]
-05/10 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:28:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.8ms, total=126.9ms	[env.py: 1075]
-05/10 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.956, 0.163, 0.030)	[env.py: 1079]
-05/10 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.2 deg	[env.py: 1082]
-05/10 12:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m	[env.py: 1086]
-05/10 12:28:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:28:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:28:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:28:06 INFO: [Worker 0] Worker 0 house 1 episode 191/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:28:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:28:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:28:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:28:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:28:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.464s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:28:06 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.334[m] 79.410[deg]	[grasp_sample.py: 539]
-05/10 12:28:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:28:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:28:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:28:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:28:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:28:19 INFO: [Worker 0] Saved videos eagerly for episode 145 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:28:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 12:28:19 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
-05/10 12:28:29 INFO: [Worker 0] Worker 0 house 1 episode 200 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:28:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:28:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:28:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.06s (batch: 4.17s, save: 9.89s)	[pipeline.py: 300]
-05/10 12:28:34 INFO: [Worker 0] [PROFILE] Episode 196 house 1 success=True episode_total=1.78s:
-  episode_total: mean=145.60s, total=582.39s, count=4, min=108617.5ms, max=188248.8ms
-  sensor_polling: mean=469.8ms, total=467.42s, count=995, min=384.4ms, max=1073.1ms
-  physics_step: mean=22.6ms, total=22.53s, count=995, min=15.0ms, max=81.7ms
-  save_trajectories: mean=9.89s, total=9.89s, count=1, min=9890.6ms, max=9890.6ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4166.5ms, max=4166.5ms
-  task_sampling: mean=445.7ms, total=1.78s, count=4, min=332.3ms, max=612.2ms
-  task_specific_sample: mean=442.0ms, total=1.77s, count=4, min=329.3ms, max=608.5ms
-  scene_randomize: mean=1.7ms, total=6.7ms, count=4, min=1.3ms, max=2.2ms
-  mj_forward_sync: mean=462.6us, total=1.9ms, count=4, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:28:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:28:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:28:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:28:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:28:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:28:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:28:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:28:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:28:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039244m	[env.py: 870]
-05/10 12:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:28:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65490298  0.74428996  0.03924416] yaw=-169.0deg	[env.py: 1019]
-05/10 12:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69837553  0.8158014   0.03924416] yaw=-171.8deg	[env.py: 1019]
-05/10 12:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.06956106  0.85811153  0.03924416] yaw=-147.2deg	[env.py: 1019]
-05/10 12:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:28:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=193.8ms, total=193.8ms	[env.py: 1075]
-05/10 12:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.655, 0.744, 0.039)	[env.py: 1079]
-05/10 12:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg	[env.py: 1082]
-05/10 12:28:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
-05/10 12:28:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:28:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:28:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:28:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:28:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:28:36 INFO: [Worker 0] Worker 0 house 1 episode 197/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:28:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:28:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:28:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:28:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:28:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:28:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.458s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:28:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.618[m] 84.075[deg]	[grasp_sample.py: 539]
-05/10 12:28:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:28:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:28:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:28:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:28:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:28:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:28:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:28:51 INFO: [Worker 0] Saved videos eagerly for episode 135 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:28:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 12:28:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:28:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:28:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:28:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:28:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:28:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:28:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:28:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:28:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:28:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:28:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:28:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:29:01 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.847s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 12:29:01 ERROR: [Worker 0] Worker 0 house 1 episode 189 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 12:29:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:29:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:29:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:29:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:29:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:29:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:29:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:29:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:29:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:29:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:29:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.030m, effective arm-mount z=0.830m (base_body_z=-0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.029861m	[env.py: 870]
-05/10 12:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:29:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98709     0.93757769 -0.02986086] yaw=-156.7deg	[env.py: 1019]
-05/10 12:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78123924  1.03128952 -0.02986086] yaw=-156.4deg	[env.py: 1019]
-05/10 12:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68305573  0.8693229  -0.02986086] yaw=-159.0deg	[env.py: 1019]
-05/10 12:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:29:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.4ms, total=218.5ms	[env.py: 1075]
-05/10 12:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.987, 0.938, -0.030)	[env.py: 1079]
-05/10 12:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.7 deg	[env.py: 1082]
-05/10 12:29:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
-05/10 12:29:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:29:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:29:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:29:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:29:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:29:03 INFO: [Worker 0] Worker 0 house 1 episode 190/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:29:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:29:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:29:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:29:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:29:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.540s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:29:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.445[m] 88.487[deg]	[grasp_sample.py: 539]
-05/10 12:29:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:29:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:29:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:29:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 12:29:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 12:29:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.00s (batch: 4.21s, save: 9.78s)	[pipeline.py: 300]
-05/10 12:29:06 INFO: [Worker 0] [PROFILE] Episode 200 house 1 success=True episode_total=0.61s:
-  episode_total: mean=192.14s, total=192.14s, count=1, min=192137.2ms, max=192137.2ms
-  sensor_polling: mean=473.5ms, total=142.05s, count=300, min=396.4ms, max=1028.1ms
-  save_trajectories: mean=9.78s, total=9.78s, count=1, min=9780.9ms, max=9780.9ms
-  physics_step: mean=23.6ms, total=7.08s, count=300, min=14.0ms, max=71.4ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4214.8ms, max=4214.8ms
-  task_sampling: mean=610.6ms, total=610.6ms, count=1, min=610.6ms, max=610.6ms
-  task_specific_sample: mean=606.6ms, total=606.6ms, count=1, min=606.6ms, max=606.6ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=462.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:29:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:29:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:29:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:29:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:29:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:29:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:29:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:29:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:29:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026722m	[env.py: 870]
-05/10 12:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:29:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93323075  0.7813316   0.02672221] yaw=-151.2deg	[env.py: 1019]
-05/10 12:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96362358  0.50104514  0.02672221] yaw=-185.2deg	[env.py: 1019]
-05/10 12:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74064438  0.50450176  0.02672221] yaw=-186.2deg	[env.py: 1019]
-05/10 12:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:29:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.8ms, total=173.8ms	[env.py: 1075]
-05/10 12:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.933, 0.781, 0.027)	[env.py: 1079]
-05/10 12:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.2 deg	[env.py: 1082]
-05/10 12:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
-05/10 12:29:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:29:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:29:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:29:08 INFO: [Worker 0] Worker 0 house 1 episode 201/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:29:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:29:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:29:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:29:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:29:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.636s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:29:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.400[m] 92.368[deg]	[grasp_sample.py: 539]
-05/10 12:29:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:29:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:29:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:29:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:29:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:29:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:29:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:29:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:29:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:29:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:29:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:29:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:29:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:29:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:29:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:29:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:29:49 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.429s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:29:49 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.137[deg]	[grasp_sample.py: 539]
-05/10 12:29:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:29:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:29:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:29:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:29:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:29:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:29:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:29:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:29:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:29:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:29:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:29:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:29:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:30:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:30:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:30:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:30:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:30:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:30:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:30:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:30:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:30:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:30:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:30:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:30:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:30:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:30:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:30:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:30:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:30:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:30:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:30:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:30:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 74 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:30:59 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.815s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:30:59 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.892[deg]	[grasp_sample.py: 539]
-05/10 12:31:01 ERROR: [Worker 0] Worker 0 house 1 episode 191 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 12:31:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:31:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:31:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:31:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:31:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:31:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:31:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:31:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:31:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032306m	[env.py: 870]
-05/10 12:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:31:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.94129563  0.82659558  0.03230576] yaw=-158.0deg	[env.py: 1019]
-05/10 12:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:31:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=321.7ms, total=321.7ms	[env.py: 1075]
-05/10 12:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.827, 0.032)	[env.py: 1079]
-05/10 12:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.0 deg	[env.py: 1082]
-05/10 12:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
-05/10 12:31:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:31:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:31:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:31:03 INFO: [Worker 0] Worker 0 house 1 episode 192/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:31:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:31:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:31:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:31:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:31:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.677s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:31:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.396[m] 87.747[deg]	[grasp_sample.py: 539]
-05/10 12:31:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:31:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:31:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:31:26 INFO: [Worker 0] Worker 0 house 1 episode 197 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:31:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:31:52 INFO: [Worker 0] Saved videos eagerly for episode 146 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:31:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 12:31:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:31:54 INFO: [Worker 0] Worker 0 house 1 episode 190 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:31:57 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:31:57 INFO: [Worker 0] [PROFILE] Episode 197 house 1 success=True episode_total=0.48s:
-  episode_total: mean=201.58s, total=201.58s, count=1, min=201578.7ms, max=201578.7ms
-  sensor_polling: mean=527.0ms, total=158.10s, count=300, min=427.3ms, max=922.7ms
-  physics_step: mean=25.3ms, total=7.58s, count=300, min=16.2ms, max=104.2ms
-  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4694.0ms, max=4694.0ms
-  task_sampling: mean=483.0ms, total=483.0ms, count=1, min=483.0ms, max=483.0ms
-  task_specific_sample: mean=479.0ms, total=479.0ms, count=1, min=479.0ms, max=479.0ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=452.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:31:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:31:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:31:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:31:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:31:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:31:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:31:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:31:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:31:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005445m	[env.py: 870]
-05/10 12:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:31:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97656269  0.21090328 -0.00544459] yaw=148.4deg	[env.py: 1019]
-05/10 12:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70573064  0.6255207  -0.00544459] yaw=-160.6deg	[env.py: 1019]
-05/10 12:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91849304  0.14244997 -0.00544459] yaw=166.0deg	[env.py: 1019]
-05/10 12:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:31:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=230.3ms, total=230.4ms	[env.py: 1075]
-05/10 12:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.977, 0.211, -0.005)	[env.py: 1079]
-05/10 12:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.4 deg	[env.py: 1082]
-05/10 12:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.775m	[env.py: 1086]
-05/10 12:31:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:31:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:31:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:31:59 INFO: [Worker 0] Worker 0 house 1 episode 198/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:31:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:31:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:31:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:31:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:32:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.610s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:32:00 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.358[m] 87.289[deg]	[grasp_sample.py: 539]
-05/10 12:32:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:32:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:32:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:32:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:32:02 INFO: [Worker 0] Worker 0 house 1 episode 201 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:32:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:32:17 INFO: [Worker 0] Saved videos eagerly for episode 138 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:32:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 12:32:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:32:21 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:32:21 INFO: [Worker 0] [PROFILE] Episode 190 house 1 success=True episode_total=1.58s:
-  episode_total: mean=160.23s, total=480.68s, count=3, min=120615.2ms, max=198599.7ms
-  sensor_polling: mean=489.3ms, total=395.37s, count=808, min=388.3ms, max=964.1ms
-  physics_step: mean=23.0ms, total=18.59s, count=808, min=14.1ms, max=132.8ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4061.8ms, max=4061.8ms
-  task_sampling: mean=525.9ms, total=1.58s, count=3, min=423.2ms, max=635.0ms
-  task_specific_sample: mean=521.9ms, total=1.57s, count=3, min=418.5ms, max=631.9ms
-  scene_randomize: mean=2.0ms, total=5.9ms, count=3, min=1.3ms, max=3.2ms
-  mj_forward_sync: mean=498.3us, total=1.5ms, count=3, min=0.5ms, max=0.6ms
-  policy_setup: mean=17.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:32:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:32:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:32:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:32:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:32:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:32:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:32:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:32:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:32:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:32:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:32:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002588m	[env.py: 870]
-05/10 12:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:32:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04529434  0.14436855 -0.00258835] yaw=151.3deg	[env.py: 1019]
-05/10 12:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.07747142  1.12827144 -0.00258835] yaw=-145.2deg	[env.py: 1019]
-05/10 12:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.73447758  0.39409567 -0.00258835] yaw=175.3deg	[env.py: 1019]
-05/10 12:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:32:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=306.4ms, total=306.5ms	[env.py: 1075]
-05/10 12:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.045, 0.144, -0.003)	[env.py: 1079]
-05/10 12:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.3 deg	[env.py: 1082]
-05/10 12:32:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.739m	[env.py: 1086]
-05/10 12:32:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:32:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:32:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:32:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:32:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:32:24 INFO: [Worker 0] Worker 0 house 1 episode 191/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:32:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:32:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:32:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:32:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:32:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.522s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:32:24 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.347[m] 99.046[deg]	[grasp_sample.py: 539]
-05/10 12:32:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:32:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:32:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:32:27 INFO: [Worker 0] Saved videos eagerly for episode 136 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:32:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 12:32:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:32:32 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:32:32 INFO: [Worker 0] [PROFILE] Episode 201 house 1 success=True episode_total=0.51s:
-  episode_total: mean=204.35s, total=204.35s, count=1, min=204348.6ms, max=204348.6ms
-  sensor_polling: mean=539.6ms, total=161.87s, count=300, min=471.7ms, max=926.9ms
-  physics_step: mean=25.5ms, total=7.66s, count=300, min=17.0ms, max=60.8ms
-  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4668.7ms, max=4668.7ms
-  task_sampling: mean=513.9ms, total=513.9ms, count=1, min=513.9ms, max=513.9ms
-  task_specific_sample: mean=509.9ms, total=509.9ms, count=1, min=509.9ms, max=509.9ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=450.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:32:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:32:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:32:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:32:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:32:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:32:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:32:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:32:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:32:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:32:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:32:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034752m	[env.py: 870]
-05/10 12:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:32:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 133.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87897927  0.61923313 -0.03475184] yaw=-163.2deg	[env.py: 1019]
-05/10 12:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85958288  0.33075933 -0.03475184] yaw=168.3deg	[env.py: 1019]
-05/10 12:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:32:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=399.0ms, total=399.1ms	[env.py: 1075]
-05/10 12:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.879, 0.619, -0.035)	[env.py: 1079]
-05/10 12:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.2 deg	[env.py: 1082]
-05/10 12:32:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
-05/10 12:32:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:32:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:32:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:32:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:32:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:32:35 INFO: [Worker 0] Worker 0 house 1 episode 202/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:32:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:32:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:32:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:32:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:32:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.546s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:32:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.445[m] 93.771[deg]	[grasp_sample.py: 539]
-05/10 12:32:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:32:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:32:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:32:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:32:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:32:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:33:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:33:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:33:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:33:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:33:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:33:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:33:53 INFO: [Worker 0] Worker 0 house 1 episode 192 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:33:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:33:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:33:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:34:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:34:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:34:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:34:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:34:07 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.478s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:34:07 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.180[deg]	[grasp_sample.py: 539]
-05/10 12:34:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:34:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:34:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:34:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:34:16 INFO: [Worker 0] Saved videos eagerly for episode 144 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:34:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 12:34:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:34:21 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:34:21 INFO: [Worker 0] [PROFILE] Episode 192 house 1 success=True episode_total=1.09s:
-  episode_total: mean=187.04s, total=374.09s, count=2, min=175549.0ms, max=198539.4ms
-  sensor_polling: mean=518.5ms, total=283.08s, count=546, min=438.3ms, max=927.1ms
-  physics_step: mean=24.8ms, total=13.55s, count=546, min=14.9ms, max=65.0ms
-  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4827.2ms, max=4827.2ms
-  task_sampling: mean=546.0ms, total=1.09s, count=2, min=482.5ms, max=609.4ms
-  task_specific_sample: mean=542.2ms, total=1.08s, count=2, min=478.3ms, max=606.0ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.5ms, max=2.8ms
-  mj_forward_sync: mean=453.1us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:34:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:34:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:34:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:34:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:34:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:34:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:34:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:34:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:34:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010542m	[env.py: 870]
-05/10 12:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:34:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86300237  1.04388064 -0.01054248] yaw=-136.3deg	[env.py: 1019]
-05/10 12:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85373904  0.19696961 -0.01054248] yaw=163.8deg	[env.py: 1019]
-05/10 12:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:34:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=385.0ms, total=385.0ms	[env.py: 1075]
-05/10 12:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.863, 1.044, -0.011)	[env.py: 1079]
-05/10 12:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.3 deg	[env.py: 1082]
-05/10 12:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
-05/10 12:34:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:34:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:34:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:34:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:34:24 INFO: [Worker 0] Worker 0 house 1 episode 193/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:34:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:34:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:34:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:34:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:34:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.840s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:34:27 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.601[m] 91.689[deg]	[grasp_sample.py: 539]
-05/10 12:34:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:34:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:34:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:34:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:34:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:34:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:34:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:34:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:34:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:34:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:34:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:34:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:34:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:34:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:34:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:34:56 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.500s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:34:56 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.234[deg]	[grasp_sample.py: 539]
-05/10 12:34:56 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.695s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:34:56 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.906[deg]	[grasp_sample.py: 539]
-05/10 12:34:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:34:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:34:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:34:58 ERROR: [Worker 0] Worker 0 house 1 episode 191 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 12:35:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:35:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:35:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:35:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:35:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:35:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:35:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:35:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:35:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017138m	[env.py: 870]
-05/10 12:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:35:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87719723  0.270383    0.01713777] yaw=156.7deg	[env.py: 1019]
-05/10 12:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99751175  0.37017497  0.01713777] yaw=178.0deg	[env.py: 1019]
-05/10 12:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93682208  0.94530643  0.01713777] yaw=-146.5deg	[env.py: 1019]
-05/10 12:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:35:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.8ms, total=207.8ms	[env.py: 1075]
-05/10 12:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.270, 0.017)	[env.py: 1079]
-05/10 12:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.7 deg	[env.py: 1082]
-05/10 12:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m	[env.py: 1086]
-05/10 12:35:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:35:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:35:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:35:00 INFO: [Worker 0] Worker 0 house 1 episode 192/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:35:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:35:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:35:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:35:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:35:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:35:01 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.459[m] 97.543[deg]	[grasp_sample.py: 539]
-05/10 12:35:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:35:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:35:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:35:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:35:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:35:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:35:24 INFO: [Worker 0] Worker 0 house 1 episode 202 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:35:29 INFO: [Worker 0] Worker 0 house 1 episode 198 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:35:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:35:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:35:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:35:52 INFO: [Worker 0] Saved videos eagerly for episode 137 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:35:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 12:35:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:35:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:35:55 INFO: [Worker 0] Saved videos eagerly for episode 147 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:35:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 12:35:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:35:56 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:35:57 INFO: [Worker 0] [PROFILE] Episode 202 house 1 success=True episode_total=0.73s:
-  episode_total: mean=202.60s, total=202.60s, count=1, min=202601.9ms, max=202601.9ms
-  sensor_polling: mean=520.7ms, total=156.21s, count=300, min=465.5ms, max=931.2ms
-  physics_step: mean=24.7ms, total=7.41s, count=300, min=16.6ms, max=41.9ms
-  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4511.3ms, max=4511.3ms
-  task_sampling: mean=728.7ms, total=728.7ms, count=1, min=728.7ms, max=728.7ms
-  task_specific_sample: mean=722.9ms, total=722.9ms, count=1, min=722.9ms, max=722.9ms
-  scene_randomize: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
-  mj_forward_sync: mean=742.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:35:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:35:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:35:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:35:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:35:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:35:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:35:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:35:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:35:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:35:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:35:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042519m	[env.py: 870]
-05/10 12:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:35:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74137321  0.09249659 -0.04251895] yaw=158.8deg	[env.py: 1019]
-05/10 12:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:35:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.3ms, total=235.3ms	[env.py: 1075]
-05/10 12:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.741, 0.092, -0.043)	[env.py: 1079]
-05/10 12:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.8 deg	[env.py: 1082]
-05/10 12:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
-05/10 12:35:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:35:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:35:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:35:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:35:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:35:59 INFO: [Worker 0] Worker 0 house 1 episode 203/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:35:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:35:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:35:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:35:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:35:59 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:36:00 INFO: [Worker 0] [PROFILE] Episode 198 house 1 success=True episode_total=0.54s:
-  episode_total: mean=240.76s, total=240.76s, count=1, min=240764.7ms, max=240764.7ms
-  sensor_polling: mean=529.0ms, total=158.70s, count=300, min=466.7ms, max=886.2ms
-  physics_step: mean=24.8ms, total=7.45s, count=300, min=16.1ms, max=45.9ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4554.1ms, max=4554.1ms
-  task_sampling: mean=538.1ms, total=538.1ms, count=1, min=538.1ms, max=538.1ms
-  task_specific_sample: mean=534.3ms, total=534.3ms, count=1, min=534.3ms, max=534.3ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=469.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:36:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.730s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:36:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.595[m] 87.561[deg]	[grasp_sample.py: 539]
-05/10 12:36:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:36:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:36:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:36:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:36:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:36:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:36:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:36:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:36:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:36:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:36:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:36:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021092m	[env.py: 870]
-05/10 12:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:36:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06270377  0.95906996  0.02109213] yaw=-138.7deg	[env.py: 1019]
-05/10 12:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94807945  0.0799693   0.02109213] yaw=154.0deg	[env.py: 1019]
-05/10 12:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92471607  0.41203063  0.02109213] yaw=166.0deg	[env.py: 1019]
-05/10 12:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:36:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.3ms, total=115.3ms	[env.py: 1075]
-05/10 12:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.063, 0.959, 0.021)	[env.py: 1079]
-05/10 12:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.7 deg	[env.py: 1082]
-05/10 12:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.798m	[env.py: 1086]
-05/10 12:36:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:36:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:36:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:36:02 INFO: [Worker 0] Worker 0 house 1 episode 199/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:36:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:36:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:36:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:36:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:36:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.616s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:36:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.361[m] 81.673[deg]	[grasp_sample.py: 539]
-05/10 12:36:05 ERROR: [Worker 0] Worker 0 house 1 episode 199 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 12:36:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:36:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:36:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:36:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:36:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:36:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:36:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:36:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:36:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:36:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007692m	[env.py: 870]
-05/10 12:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:36:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09042701  1.18359706 -0.00769208] yaw=-124.5deg	[env.py: 1019]
-05/10 12:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87466601  0.77831255 -0.00769208] yaw=-170.7deg	[env.py: 1019]
-05/10 12:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:36:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=585.5ms, total=585.5ms	[env.py: 1075]
-05/10 12:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.090, 1.184, -0.008)	[env.py: 1079]
-05/10 12:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.5 deg	[env.py: 1082]
-05/10 12:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
-05/10 12:36:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:36:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:36:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:36:08 INFO: [Worker 0] Worker 0 house 1 episode 200/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:36:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:36:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:36:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:36:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:36:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.747s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:36:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.494[m] 82.703[deg]	[grasp_sample.py: 539]
-05/10 12:36:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:36:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:36:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:36:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:37:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:37:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:37:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:37:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:37:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:37:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:37:15 INFO: [Worker 0] Worker 0 house 1 episode 193 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:37:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:37:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:37:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:37:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:37:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:37:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:37:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:37:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:37:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:37:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:37:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:37:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:37:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:37:23 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.462s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:37:23 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.141[deg]	[grasp_sample.py: 539]
-05/10 12:37:24 ERROR: [Worker 0] Worker 0 house 1 episode 192 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 12:37:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:37:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:37:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:37:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:37:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:37:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:37:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:37:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:37:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:37:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:37:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008236m	[env.py: 870]
-05/10 12:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:37:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86848603  1.17150495 -0.00823599] yaw=-144.5deg	[env.py: 1019]
-05/10 12:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07768105  0.92498638 -0.00823599] yaw=-149.9deg	[env.py: 1019]
-05/10 12:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87380444  0.81389827 -0.00823599] yaw=-162.8deg	[env.py: 1019]
-05/10 12:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:37:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.9ms, total=132.9ms	[env.py: 1075]
-05/10 12:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.868, 1.172, -0.008)	[env.py: 1079]
-05/10 12:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.5 deg	[env.py: 1082]
-05/10 12:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
-05/10 12:37:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:37:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:37:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:37:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:37:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:37:26 INFO: [Worker 0] Worker 0 house 1 episode 193/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:37:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:37:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:37:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:37:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:37:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.749s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:37:28 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.650[m] 85.026[deg]	[grasp_sample.py: 539]
-05/10 12:37:29 ERROR: [Worker 0] Worker 0 house 1 episode 193 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 12:37:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:37:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:37:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:37:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:37:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:37:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:37:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:37:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:37:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:37:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:37:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046469m	[env.py: 870]
-05/10 12:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:37:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89537511  0.82364311  0.0464685 ] yaw=-149.0deg	[env.py: 1019]
-05/10 12:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.1574512   0.92636817  0.0464685 ] yaw=-143.3deg	[env.py: 1019]
-05/10 12:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.77322174  0.76111552  0.0464685 ] yaw=-167.9deg	[env.py: 1019]
-05/10 12:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:37:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.4ms, total=190.5ms	[env.py: 1075]
-05/10 12:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.895, 0.824, 0.046)	[env.py: 1079]
-05/10 12:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg	[env.py: 1082]
-05/10 12:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
-05/10 12:37:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:37:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:37:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:37:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:37:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:37:32 INFO: [Worker 0] Worker 0 house 1 episode 194/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:37:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:37:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:37:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:37:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:37:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.566s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:37:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.451[m] 88.920[deg]	[grasp_sample.py: 539]
-05/10 12:37:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:37:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:37:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:37:39 INFO: [Worker 0] Saved videos eagerly for episode 145 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:37:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 12:37:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:37:43 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:37:43 INFO: [Worker 0] [PROFILE] Episode 193 house 1 success=True episode_total=0.74s:
-  episode_total: mean=200.14s, total=200.14s, count=1, min=200142.1ms, max=200142.1ms
-  sensor_polling: mean=525.6ms, total=157.69s, count=300, min=456.3ms, max=934.0ms
-  physics_step: mean=25.6ms, total=7.69s, count=300, min=16.9ms, max=96.5ms
-  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4405.9ms, max=4405.9ms
-  task_sampling: mean=736.8ms, total=736.8ms, count=1, min=736.8ms, max=736.8ms
-  task_specific_sample: mean=733.2ms, total=733.2ms, count=1, min=733.2ms, max=733.2ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=440.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:37:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:37:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:37:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:37:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:37:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:37:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:37:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:37:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:37:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:37:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:37:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046726m	[env.py: 870]
-05/10 12:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:37:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09178969  0.97949245  0.04672647] yaw=-134.0deg	[env.py: 1019]
-05/10 12:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87044107  1.13940721  0.04672647] yaw=-141.4deg	[env.py: 1019]
-05/10 12:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:37:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=205.3ms, total=205.3ms	[env.py: 1075]
-05/10 12:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.092, 0.979, 0.047)	[env.py: 1079]
-05/10 12:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.0 deg	[env.py: 1082]
-05/10 12:37:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.788m	[env.py: 1086]
-05/10 12:37:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:37:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:37:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:37:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:37:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:37:46 INFO: [Worker 0] Worker 0 house 1 episode 194/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:37:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:37:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:37:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:37:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:37:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.620s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:37:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.397[m] 95.008[deg]	[grasp_sample.py: 539]
-05/10 12:37:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:37:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:37:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:38:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:38:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:38:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:38:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:38:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:38:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:38:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:38:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:38:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:38:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:38:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:38:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:38:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:38:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 72 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:38:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:38:30 INFO: [Worker 0] Feasibility-checked 72 grasps in 1.707s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 12:38:30 ERROR: [Worker 0] Worker 0 house 1 episode 200 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 12:38:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:38:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:38:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:38:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:38:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:38:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:38:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:38:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:38:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005739m	[env.py: 870]
-05/10 12:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:38:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69132736  0.91361393  0.00573909] yaw=-160.4deg	[env.py: 1019]
-05/10 12:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.62905364  0.28920487  0.00573909] yaw=166.6deg	[env.py: 1019]
-05/10 12:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95270942  0.78740225  0.00573909] yaw=-161.5deg	[env.py: 1019]
-05/10 12:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:38:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=277.3ms, total=277.4ms	[env.py: 1075]
-05/10 12:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.914, 0.006)	[env.py: 1079]
-05/10 12:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg	[env.py: 1082]
-05/10 12:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
-05/10 12:38:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:38:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:38:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:38:33 INFO: [Worker 0] Worker 0 house 1 episode 201/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:38:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:38:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:38:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:38:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:38:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:38:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.854s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:38:36 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.700[m] 87.098[deg]	[grasp_sample.py: 539]
-05/10 12:38:37 ERROR: [Worker 0] Worker 0 house 1 episode 201 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 12:38:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:38:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:38:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:38:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:38:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:38:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:38:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:38:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040703m	[env.py: 870]
-05/10 12:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:38:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.26527608  1.03074108 -0.04070313] yaw=-136.2deg	[env.py: 1019]
-05/10 12:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76628532  0.80136921 -0.04070313] yaw=-150.2deg	[env.py: 1019]
-05/10 12:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86833781  0.03621236 -0.04070313] yaw=154.8deg	[env.py: 1019]
-05/10 12:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:38:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=266.7ms, total=266.8ms	[env.py: 1075]
-05/10 12:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.265, 1.031, -0.041)	[env.py: 1079]
-05/10 12:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.2 deg	[env.py: 1082]
-05/10 12:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.702m	[env.py: 1086]
-05/10 12:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:38:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:38:39 INFO: [Worker 0] Worker 0 house 1 episode 202/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:38:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:38:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:38:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:38:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:38:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.476s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:38:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.326[m] 94.368[deg]	[grasp_sample.py: 539]
-05/10 12:38:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:38:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:38:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:38:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:39:06 INFO: [Worker 0] Worker 0 house 1 episode 203 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:39:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:39:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:39:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:39:33 INFO: [Worker 0] Saved videos eagerly for episode 138 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:39:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 12:39:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:39:38 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:39:39 INFO: [Worker 0] [PROFILE] Episode 203 house 1 success=True episode_total=0.53s:
-  episode_total: mean=220.39s, total=220.39s, count=1, min=220393.2ms, max=220393.2ms
-  sensor_polling: mean=523.6ms, total=157.07s, count=300, min=475.0ms, max=927.1ms
-  physics_step: mean=25.9ms, total=7.76s, count=300, min=16.1ms, max=49.8ms
-  save_batch_prep: mean=5.09s, total=5.09s, count=1, min=5091.3ms, max=5091.3ms
-  task_sampling: mean=533.8ms, total=533.8ms, count=1, min=533.8ms, max=533.8ms
-  task_specific_sample: mean=530.2ms, total=530.2ms, count=1, min=530.2ms, max=530.2ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=442.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:39:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:39:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:39:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:39:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:39:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:39:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:39:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:39:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:39:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011639m	[env.py: 870]
-05/10 12:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:39:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8670206   0.8557237  -0.01163884] yaw=-164.8deg	[env.py: 1019]
-05/10 12:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83464215  0.06217161 -0.01163884] yaw=145.2deg	[env.py: 1019]
-05/10 12:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98808473  1.12359162 -0.01163884] yaw=-131.2deg	[env.py: 1019]
-05/10 12:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:39:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.2ms, total=188.3ms	[env.py: 1075]
-05/10 12:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.867, 0.856, -0.012)	[env.py: 1079]
-05/10 12:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.8 deg	[env.py: 1082]
-05/10 12:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
-05/10 12:39:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:39:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:39:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:39:41 INFO: [Worker 0] Worker 0 house 1 episode 204/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:39:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:39:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:39:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:39:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:39:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.676s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:39:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.495[m] 87.758[deg]	[grasp_sample.py: 539]
-05/10 12:39:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:39:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:39:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:40:20 INFO: [Worker 0] Worker 0 house 1 episode 194 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:40:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:40:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:40:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:40:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:40:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:40:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:40:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:40:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:40:44 INFO: [Worker 0] Worker 0 house 1 episode 194 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:40:46 INFO: [Worker 0] Saved videos eagerly for episode 139 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:40:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 12:40:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:40:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:40:50 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:40:50 INFO: [Worker 0] [PROFILE] Episode 194 house 1 success=True episode_total=2.01s:
-  episode_total: mean=125.44s, total=501.78s, count=4, min=3434.3ms, max=199146.7ms
-  sensor_polling: mean=525.0ms, total=398.46s, count=759, min=451.1ms, max=900.3ms
-  physics_step: mean=24.8ms, total=18.85s, count=759, min=16.5ms, max=80.3ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4389.4ms, max=4389.4ms
-  task_sampling: mean=501.9ms, total=2.01s, count=4, min=422.4ms, max=637.9ms
-  task_specific_sample: mean=498.2ms, total=1.99s, count=4, min=418.4ms, max=633.9ms
-  scene_randomize: mean=1.7ms, total=6.9ms, count=4, min=1.4ms, max=2.6ms
-  mj_forward_sync: mean=439.6us, total=1.8ms, count=4, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.3us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:40:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:40:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:40:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:40:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:40:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:40:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:40:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:40:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:40:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:40:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:40:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.050m, effective arm-mount z=0.810m (base_body_z=-0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.049718m	[env.py: 870]
-05/10 12:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:40:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04701767  0.79895751 -0.04971824] yaw=-145.4deg	[env.py: 1019]
-05/10 12:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.61897894  0.58149891 -0.04971824] yaw=-163.8deg	[env.py: 1019]
-05/10 12:40:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.66601569  0.68539621 -0.04971824] yaw=-166.2deg	[env.py: 1019]
-05/10 12:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:40:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=271.8ms, total=271.8ms	[env.py: 1075]
-05/10 12:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.047, 0.799, -0.050)	[env.py: 1079]
-05/10 12:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.4 deg	[env.py: 1082]
-05/10 12:40:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.728m	[env.py: 1086]
-05/10 12:40:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:40:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:40:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:40:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:40:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:40:53 INFO: [Worker 0] Worker 0 house 1 episode 195/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:40:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:40:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:40:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:40:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:40:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:40:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.582s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:40:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.340[m] 94.149[deg]	[grasp_sample.py: 539]
-05/10 12:40:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:40:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:40:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:40:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:40:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:40:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:41:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:41:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:41:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:41:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:41:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:41:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:41:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:41:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:41:09 INFO: [Worker 0] Saved videos eagerly for episode 146 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:41:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 12:41:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:41:10 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.605s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:41:10 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.269[deg]	[grasp_sample.py: 539]
-05/10 12:41:11 ERROR: [Worker 0] Worker 0 house 1 episode 202 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 12:41:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:41:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:41:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:41:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:41:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:41:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:41:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:41:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:41:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:41:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:41:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039282m	[env.py: 870]
-05/10 12:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:41:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78383464  0.23529315  0.03928184] yaw=158.7deg	[env.py: 1019]
-05/10 12:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.79752771  0.39636909  0.03928184] yaw=185.5deg	[env.py: 1019]
-05/10 12:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:41:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.9ms, total=188.9ms	[env.py: 1075]
-05/10 12:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.235, 0.039)	[env.py: 1079]
-05/10 12:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.7 deg	[env.py: 1082]
-05/10 12:41:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
-05/10 12:41:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:41:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:41:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:41:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:41:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:41:13 INFO: [Worker 0] Worker 0 house 1 episode 203/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:41:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:41:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:41:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:41:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:41:14 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:41:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.592s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:41:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.504[m] 95.094[deg]	[grasp_sample.py: 539]
-05/10 12:41:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:41:14 INFO: [Worker 0] [PROFILE] Episode 194 house 1 success=True episode_total=0.52s:
-  episode_total: mean=208.79s, total=208.79s, count=1, min=208785.3ms, max=208785.3ms
-  sensor_polling: mean=521.2ms, total=156.37s, count=300, min=472.5ms, max=931.0ms
-  physics_step: mean=25.5ms, total=7.64s, count=300, min=18.2ms, max=65.6ms
-  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4561.6ms, max=4561.6ms
-  task_sampling: mean=517.4ms, total=517.4ms, count=1, min=517.4ms, max=517.4ms
-  task_specific_sample: mean=512.5ms, total=512.5ms, count=1, min=512.5ms, max=512.5ms
-  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
-  mj_forward_sync: mean=731.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:41:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:41:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:41:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:41:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:41:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:41:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:41:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:41:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:41:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:41:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:41:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043492m	[env.py: 870]
-05/10 12:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:41:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71722648  0.78174199  0.04349199] yaw=-162.8deg	[env.py: 1019]
-05/10 12:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97315716  0.19336973  0.04349199] yaw=163.7deg	[env.py: 1019]
-05/10 12:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67757548  0.69175181  0.04349199] yaw=-160.3deg	[env.py: 1019]
-05/10 12:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:41:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.6ms, total=128.7ms	[env.py: 1075]
-05/10 12:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.717, 0.782, 0.043)	[env.py: 1079]
-05/10 12:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.8 deg	[env.py: 1082]
-05/10 12:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m	[env.py: 1086]
-05/10 12:41:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:41:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:41:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:41:16 INFO: [Worker 0] Worker 0 house 1 episode 195/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:41:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:41:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:41:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:41:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:41:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.732s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:41:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.579[m] 81.539[deg]	[grasp_sample.py: 539]
-05/10 12:41:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:41:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:41:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:41:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:41:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:41:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:42:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:42:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:42:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:42:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:42:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:42:27 INFO: [Worker 0] Worker 0 house 1 episode 204 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:42:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:42:51 INFO: [Worker 0] Saved videos eagerly for episode 139 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:42:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 12:42:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:42:55 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:42:55 INFO: [Worker 0] [PROFILE] Episode 204 house 1 success=True episode_total=0.58s:
-  episode_total: mean=194.69s, total=194.69s, count=1, min=194687.9ms, max=194687.9ms
-  sensor_polling: mean=516.8ms, total=155.03s, count=300, min=469.0ms, max=942.3ms
-  physics_step: mean=24.0ms, total=7.21s, count=300, min=15.7ms, max=60.8ms
-  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4543.4ms, max=4543.4ms
-  task_sampling: mean=580.6ms, total=580.6ms, count=1, min=580.6ms, max=580.6ms
-  task_specific_sample: mean=574.7ms, total=574.7ms, count=1, min=574.7ms, max=574.7ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=732.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:42:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:42:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:42:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:42:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:42:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:42:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:42:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037284m	[env.py: 870]
-05/10 12:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:42:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69622575  0.35739991  0.03728362] yaw=165.7deg	[env.py: 1019]
-05/10 12:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.12058232  0.88330858  0.03728362] yaw=-150.1deg	[env.py: 1019]
-05/10 12:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81386622  0.10405419  0.03728362] yaw=152.3deg	[env.py: 1019]
-05/10 12:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:42:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.1ms, total=93.1ms	[env.py: 1075]
-05/10 12:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.696, 0.357, 0.037)	[env.py: 1079]
-05/10 12:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.7 deg	[env.py: 1082]
-05/10 12:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
-05/10 12:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:42:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:42:58 INFO: [Worker 0] Worker 0 house 1 episode 205/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:42:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:42:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:42:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:42:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:42:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.554s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:42:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.535[m] 78.767[deg]	[grasp_sample.py: 539]
-05/10 12:42:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:42:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:42:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:43:33 INFO: [Worker 0] Worker 0 house 1 episode 195 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:43:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:43:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:43:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:43:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:43:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:43:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:43:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:43:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:43:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:43:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:43:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:43:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:43:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:43:55 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.824s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:43:55 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.038[deg]	[grasp_sample.py: 539]
-05/10 12:43:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:43:57 ERROR: [Worker 0] Worker 0 house 1 episode 203 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 12:43:58 INFO: [Worker 0] Saved videos eagerly for episode 140 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:43:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 12:43:58 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
-05/10 12:43:59 INFO: [Worker 0] Worker 0 house 1 episode 195 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:43:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:43:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:43:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:43:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:43:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:43:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:43:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:43:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:43:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:43:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:43:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045715m	[env.py: 870]
-05/10 12:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:43:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94508348  0.42845502 -0.0457154 ] yaw=166.0deg	[env.py: 1019]
-05/10 12:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87315857  0.16608426 -0.0457154 ] yaw=149.5deg	[env.py: 1019]
-05/10 12:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90264829  0.39798562 -0.0457154 ] yaw=178.5deg	[env.py: 1019]
-05/10 12:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:43:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.5ms, total=188.6ms	[env.py: 1075]
-05/10 12:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.945, 0.428, -0.046)	[env.py: 1079]
-05/10 12:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.0 deg	[env.py: 1082]
-05/10 12:43:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.759m	[env.py: 1086]
-05/10 12:43:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:43:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:43:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:43:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:44:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:44:00 INFO: [Worker 0] Worker 0 house 1 episode 204/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:44:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:44:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:44:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:44:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:44:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.475s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:44:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.364[m] 97.525[deg]	[grasp_sample.py: 539]
-05/10 12:44:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:44:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:44:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:44:03 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:44:03 INFO: [Worker 0] [PROFILE] Episode 195 house 1 success=True episode_total=0.64s:
-  episode_total: mean=190.45s, total=190.45s, count=1, min=190449.9ms, max=190449.9ms
-  sensor_polling: mean=512.2ms, total=149.05s, count=291, min=470.7ms, max=897.7ms
-  physics_step: mean=23.9ms, total=6.96s, count=291, min=19.5ms, max=55.3ms
-  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4561.2ms, max=4561.2ms
-  task_sampling: mean=638.0ms, total=638.0ms, count=1, min=638.0ms, max=638.0ms
-  task_specific_sample: mean=632.8ms, total=632.8ms, count=1, min=632.8ms, max=632.8ms
-  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
-  mj_forward_sync: mean=663.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=22.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:44:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:44:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:44:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:44:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:44:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:44:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:44:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:44:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:44:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.033m, effective arm-mount z=0.827m (base_body_z=-0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032524m	[env.py: 870]
-05/10 12:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:44:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89465243  0.1661815  -0.03252427] yaw=153.8deg	[env.py: 1019]
-05/10 12:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11504579  1.02633474 -0.03252427] yaw=-130.9deg	[env.py: 1019]
-05/10 12:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98285463  0.15077516 -0.03252427] yaw=149.0deg	[env.py: 1019]
-05/10 12:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:44:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=277.7ms, total=277.7ms	[env.py: 1075]
-05/10 12:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.895, 0.166, -0.033)	[env.py: 1079]
-05/10 12:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.8 deg	[env.py: 1082]
-05/10 12:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m	[env.py: 1086]
-05/10 12:44:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:44:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:44:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:44:05 INFO: [Worker 0] Worker 0 house 1 episode 196/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:44:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:44:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:44:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:44:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:44:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.538s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:44:06 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.428[m] 89.383[deg]	[grasp_sample.py: 539]
-05/10 12:44:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:44:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:44:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:44:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:44:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:44:24 INFO: [Worker 0] Saved videos eagerly for episode 147 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:44:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 12:44:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:44:30 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:44:30 INFO: [Worker 0] [PROFILE] Episode 195 house 1 success=True episode_total=0.44s:
-  episode_total: mean=194.32s, total=194.32s, count=1, min=194323.7ms, max=194323.7ms
-  sensor_polling: mean=501.2ms, total=150.37s, count=300, min=462.3ms, max=841.3ms
-  physics_step: mean=23.6ms, total=7.09s, count=300, min=18.0ms, max=58.6ms
-  save_batch_prep: mean=5.51s, total=5.51s, count=1, min=5505.4ms, max=5505.4ms
-  task_sampling: mean=439.9ms, total=439.9ms, count=1, min=439.9ms, max=439.9ms
-  task_specific_sample: mean=435.6ms, total=435.6ms, count=1, min=435.6ms, max=435.6ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=535.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:44:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:44:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:44:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:44:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:44:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:44:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:44:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:44:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:44:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034908m	[env.py: 870]
-05/10 12:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:44:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88424345  0.25314448  0.03490824] yaw=170.9deg	[env.py: 1019]
-05/10 12:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74961634  0.03438661  0.03490824] yaw=163.1deg	[env.py: 1019]
-05/10 12:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7514343   0.54676494  0.03490824] yaw=-178.6deg	[env.py: 1019]
-05/10 12:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:44:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.6ms, total=104.6ms	[env.py: 1075]
-05/10 12:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.884, 0.253, 0.035)	[env.py: 1079]
-05/10 12:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.9 deg	[env.py: 1082]
-05/10 12:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
-05/10 12:44:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:44:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:44:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:44:32 INFO: [Worker 0] Worker 0 house 1 episode 196/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:44:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:44:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:44:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:44:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:44:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.657s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:44:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.369[m] 78.438[deg]	[grasp_sample.py: 539]
-05/10 12:44:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:44:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:44:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:44:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:44:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:44:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:44:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:45:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:45:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:45:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:45:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:45:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:45:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:45:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:45:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:45:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:45:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:45:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:45:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:45:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:45:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:45:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:45:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:45:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:45:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:45:54 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.412s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:45:54 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.805[deg]	[grasp_sample.py: 539]
-05/10 12:45:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:45:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:45:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:45:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:45:57 INFO: [Worker 0] Worker 0 house 1 episode 205 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:46:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:46:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:46:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:46:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:46:09 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.452s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:46:09 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.450[deg]	[grasp_sample.py: 539]
-05/10 12:46:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:46:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:46:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:46:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:46:20 INFO: [Worker 0] Saved videos eagerly for episode 140 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:46:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 12:46:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:46:24 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:46:24 INFO: [Worker 0] [PROFILE] Episode 205 house 1 success=True episode_total=0.44s:
-  episode_total: mean=207.30s, total=207.30s, count=1, min=207302.4ms, max=207302.4ms
-  sensor_polling: mean=523.0ms, total=156.91s, count=300, min=462.4ms, max=930.0ms
-  physics_step: mean=26.8ms, total=8.05s, count=300, min=18.1ms, max=73.7ms
-  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4467.5ms, max=4467.5ms
-  task_sampling: mean=441.2ms, total=441.2ms, count=1, min=441.2ms, max=441.2ms
-  task_specific_sample: mean=437.1ms, total=437.1ms, count=1, min=437.1ms, max=437.1ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=460.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:46:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:46:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:46:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:46:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:46:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:46:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:46:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:46:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:46:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018782m	[env.py: 870]
-05/10 12:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:46:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 133.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79781028  0.41466269 -0.01878209] yaw=165.3deg	[env.py: 1019]
-05/10 12:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.08789352  0.91098194 -0.01878209] yaw=-136.2deg	[env.py: 1019]
-05/10 12:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:46:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=355.4ms, total=355.5ms	[env.py: 1075]
-05/10 12:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.798, 0.415, -0.019)	[env.py: 1079]
-05/10 12:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.3 deg	[env.py: 1082]
-05/10 12:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m	[env.py: 1086]
-05/10 12:46:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:46:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:46:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:46:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:46:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:46:27 INFO: [Worker 0] Worker 0 house 1 episode 206/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:46:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:46:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:46:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:46:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:46:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:46:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.505[m] 94.887[deg]	[grasp_sample.py: 539]
-05/10 12:46:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:46:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:46:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:46:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:46:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:46:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:46:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:46:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:46:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:46:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:46:37 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.561s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:46:37 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.371[deg]	[grasp_sample.py: 539]
-05/10 12:46:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:46:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:46:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:46:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:46:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:46:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:46:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:46:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:46:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:46:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:46:53 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.486s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:46:53 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.372[deg]	[grasp_sample.py: 539]
-05/10 12:46:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:46:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:46:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:47:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:47:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:47:04 INFO: [Worker 0] Worker 0 house 1 episode 204 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:47:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:47:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:47:15 INFO: [Worker 0] Worker 0 house 1 episode 196 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:47:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:47:27 INFO: [Worker 0] Saved videos eagerly for episode 148 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:47:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 12:47:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:47:31 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:47:31 INFO: [Worker 0] [PROFILE] Episode 204 house 1 success=True episode_total=3.41s:
-  episode_total: mean=113.32s, total=679.90s, count=6, min=3204.1ms, max=211996.2ms
-  sensor_polling: mean=520.4ms, total=539.17s, count=1036, min=456.3ms, max=925.4ms
-  physics_step: mean=26.0ms, total=26.95s, count=1036, min=16.6ms, max=81.4ms
-  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4310.0ms, max=4310.0ms
-  task_sampling: mean=567.6ms, total=3.41s, count=6, min=435.9ms, max=913.1ms
-  task_specific_sample: mean=563.8ms, total=3.38s, count=6, min=431.9ms, max=909.5ms
-  scene_randomize: mean=1.6ms, total=9.6ms, count=6, min=1.3ms, max=2.6ms
-  mj_forward_sync: mean=473.0us, total=2.8ms, count=6, min=0.4ms, max=0.6ms
-  policy_setup: mean=17.7us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:47:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:47:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:47:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:47:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:47:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:47:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:47:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:47:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:47:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:47:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026313m	[env.py: 870]
-05/10 12:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:47:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01878408  0.85938132 -0.02631293] yaw=-141.0deg	[env.py: 1019]
-05/10 12:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.93126044  0.06832814 -0.02631293] yaw=158.2deg	[env.py: 1019]
-05/10 12:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:47:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.1ms, total=186.2ms	[env.py: 1075]
-05/10 12:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.019, 0.859, -0.026)	[env.py: 1079]
-05/10 12:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg	[env.py: 1082]
-05/10 12:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.781m	[env.py: 1086]
-05/10 12:47:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:47:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:47:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:47:33 INFO: [Worker 0] Worker 0 house 1 episode 205/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:47:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:47:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:47:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:47:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:47:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:47:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.386[m] 89.812[deg]	[grasp_sample.py: 539]
-05/10 12:47:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:47:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:47:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:47:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:47:37 INFO: [Worker 0] Saved videos eagerly for episode 141 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:47:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 12:47:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:47:42 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:47:42 INFO: [Worker 0] [PROFILE] Episode 196 house 1 success=True episode_total=0.59s:
-  episode_total: mean=217.28s, total=217.28s, count=1, min=217275.1ms, max=217275.1ms
-  sensor_polling: mean=518.3ms, total=155.48s, count=300, min=462.2ms, max=935.1ms
-  physics_step: mean=25.5ms, total=7.64s, count=300, min=15.3ms, max=53.6ms
-  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4457.7ms, max=4457.7ms
-  task_sampling: mean=592.1ms, total=592.1ms, count=1, min=592.1ms, max=592.1ms
-  task_specific_sample: mean=588.0ms, total=588.0ms, count=1, min=588.0ms, max=588.0ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=455.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:47:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:47:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:47:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:47:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:47:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:47:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:47:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:47:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:47:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030520m	[env.py: 870]
-05/10 12:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:47:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74764     0.09165855  0.03051998] yaw=158.5deg	[env.py: 1019]
-05/10 12:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98023812  0.2115466   0.03051998] yaw=170.1deg	[env.py: 1019]
-05/10 12:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83736099  0.77901464  0.03051998] yaw=-152.5deg	[env.py: 1019]
-05/10 12:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:47:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.4ms, total=195.4ms	[env.py: 1075]
-05/10 12:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.748, 0.092, 0.031)	[env.py: 1079]
-05/10 12:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.5 deg	[env.py: 1082]
-05/10 12:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
-05/10 12:47:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:47:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:47:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:47:44 INFO: [Worker 0] Worker 0 house 1 episode 197/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:47:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:47:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:47:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:47:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:47:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.159s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:47:47 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.592[m] 87.788[deg]	[grasp_sample.py: 539]
-05/10 12:47:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:47:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:47:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:47:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:47:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:47:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:48:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:48:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:48:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:48:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:48:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:48:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:48:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:48:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:48:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:48:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 70 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:48:12 INFO: [Worker 0] Feasibility-checked 70 grasps in 3.105s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:48:12 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.058[deg]	[grasp_sample.py: 539]
-05/10 12:48:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:48:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:48:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:48:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:48:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:48:19 INFO: [Worker 0] Worker 0 house 1 episode 196 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:48:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:48:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:48:44 INFO: [Worker 0] Saved videos eagerly for episode 148 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:48:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 12:48:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:48:50 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:48:50 INFO: [Worker 0] [PROFILE] Episode 196 house 1 success=True episode_total=0.43s:
-  episode_total: mean=257.95s, total=257.95s, count=1, min=257950.8ms, max=257950.8ms
-  sensor_polling: mean=532.4ms, total=159.73s, count=300, min=461.0ms, max=1171.6ms
-  physics_step: mean=26.7ms, total=8.02s, count=300, min=15.4ms, max=53.0ms
-  save_batch_prep: mean=5.32s, total=5.32s, count=1, min=5319.7ms, max=5319.7ms
-  task_sampling: mean=430.2ms, total=430.2ms, count=1, min=430.2ms, max=430.2ms
-  task_specific_sample: mean=426.2ms, total=426.2ms, count=1, min=426.2ms, max=426.2ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=474.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:48:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:48:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:48:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:48:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:48:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:48:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:48:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:48:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:48:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028119m	[env.py: 870]
-05/10 12:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:48:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78931653  0.08386657 -0.02811943] yaw=164.0deg	[env.py: 1019]
-05/10 12:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.6925243   0.80860176 -0.02811943] yaw=-157.5deg	[env.py: 1019]
-05/10 12:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86669574  0.49977887 -0.02811943] yaw=-168.9deg	[env.py: 1019]
-05/10 12:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:48:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=191.4ms, total=191.4ms	[env.py: 1075]
-05/10 12:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.789, 0.084, -0.028)	[env.py: 1079]
-05/10 12:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.0 deg	[env.py: 1082]
-05/10 12:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
-05/10 12:48:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:48:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:48:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:48:53 INFO: [Worker 0] Worker 0 house 1 episode 197/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:48:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:48:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:48:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:48:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:48:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:48:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.776s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:48:57 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.603[m] 96.679[deg]	[grasp_sample.py: 539]
-05/10 12:48:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:48:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:48:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:49:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:49:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:49:16 INFO: [Worker 0] Worker 0 house 1 episode 206 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:49:45 INFO: [Worker 0] Saved videos eagerly for episode 141 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:49:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 12:49:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:49:50 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:49:51 INFO: [Worker 0] [PROFILE] Episode 206 house 1 success=True episode_total=0.63s:
-  episode_total: mean=204.40s, total=204.40s, count=1, min=204396.6ms, max=204396.6ms
-  sensor_polling: mean=523.9ms, total=157.16s, count=300, min=463.3ms, max=1073.3ms
-  physics_step: mean=27.6ms, total=8.29s, count=300, min=16.0ms, max=134.6ms
-  save_batch_prep: mean=5.32s, total=5.32s, count=1, min=5323.4ms, max=5323.4ms
-  task_sampling: mean=630.3ms, total=630.3ms, count=1, min=630.3ms, max=630.3ms
-  task_specific_sample: mean=626.4ms, total=626.4ms, count=1, min=626.4ms, max=626.4ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=457.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:49:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:49:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:49:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:49:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:49:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:49:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:49:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:49:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:49:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:49:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:49:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028987m	[env.py: 870]
-05/10 12:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:49:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79201461  0.50398242  0.02898718] yaw=-189.8deg	[env.py: 1019]
-05/10 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87215607  0.1635835   0.02898718] yaw=154.3deg	[env.py: 1019]
-05/10 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91637335  0.52426273  0.02898718] yaw=-182.1deg	[env.py: 1019]
-05/10 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:49:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=314.6ms, total=314.6ms	[env.py: 1075]
-05/10 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.792, 0.504, 0.029)	[env.py: 1079]
-05/10 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.8 deg	[env.py: 1082]
-05/10 12:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
-05/10 12:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:49:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:49:53 INFO: [Worker 0] Worker 0 house 1 episode 207/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:49:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:49:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:49:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:49:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:49:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.613s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:49:54 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.470[m] 92.819[deg]	[grasp_sample.py: 539]
-05/10 12:49:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:49:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:49:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:50:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:50:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:50:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:50:25 INFO: [Worker 0] Worker 0 house 1 episode 205 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:50:39 INFO: [Worker 0] Worker 0 house 1 episode 197 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:50:49 INFO: [Worker 0] Saved videos eagerly for episode 149 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:50:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 12:50:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:50:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:50:53 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:50:54 INFO: [Worker 0] [PROFILE] Episode 205 house 1 success=True episode_total=0.49s:
-  episode_total: mean=200.68s, total=200.68s, count=1, min=200681.5ms, max=200681.5ms
-  sensor_polling: mean=532.4ms, total=159.73s, count=300, min=463.4ms, max=1666.7ms
-  physics_step: mean=26.1ms, total=7.83s, count=300, min=17.2ms, max=56.3ms
-  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4696.3ms, max=4696.3ms
-  task_sampling: mean=491.2ms, total=491.2ms, count=1, min=491.2ms, max=491.2ms
-  task_specific_sample: mean=487.7ms, total=487.7ms, count=1, min=487.7ms, max=487.7ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=457.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:50:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:50:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:50:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:50:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:50:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:50:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:50:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:50:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:50:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023778m	[env.py: 870]
-05/10 12:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:50:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87605173  0.16102663 -0.02377752] yaw=149.9deg	[env.py: 1019]
-05/10 12:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63310384  0.5623149  -0.02377752] yaw=-185.7deg	[env.py: 1019]
-05/10 12:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 124.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:50:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.2ms, total=209.2ms	[env.py: 1075]
-05/10 12:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.876, 0.161, -0.024)	[env.py: 1079]
-05/10 12:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.9 deg	[env.py: 1082]
-05/10 12:50:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
-05/10 12:50:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:50:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:50:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:50:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:50:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:50:56 INFO: [Worker 0] Worker 0 house 1 episode 206/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:50:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:50:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:50:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:50:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:50:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.727s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:50:57 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.475[m] 92.624[deg]	[grasp_sample.py: 539]
-05/10 12:50:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:50:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:50:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:50:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:51:04 INFO: [Worker 0] Saved videos eagerly for episode 142 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:51:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 12:51:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:51:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:51:09 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:51:09 INFO: [Worker 0] [PROFILE] Episode 197 house 1 success=True episode_total=0.52s:
-  episode_total: mean=205.01s, total=205.01s, count=1, min=205013.6ms, max=205013.6ms
-  sensor_polling: mean=533.5ms, total=160.06s, count=300, min=460.1ms, max=1252.1ms
-  physics_step: mean=26.9ms, total=8.07s, count=300, min=19.3ms, max=96.7ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4394.6ms, max=4394.6ms
-  task_sampling: mean=520.0ms, total=520.0ms, count=1, min=520.0ms, max=520.0ms
-  task_specific_sample: mean=516.4ms, total=516.4ms, count=1, min=516.4ms, max=516.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=443.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:51:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:51:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:51:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:51:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:51:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:51:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:51:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:51:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:51:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:51:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:51:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:51:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:51:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:51:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005595m	[env.py: 870]
-05/10 12:51:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:51:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:51:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:51:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:51:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:51:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:51:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:51:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6818914  0.497227   0.0055951] yaw=-180.6deg	[env.py: 1019]
-05/10 12:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90628069  0.80447095  0.0055951 ] yaw=-157.4deg	[env.py: 1019]
-05/10 12:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94837584  1.07389285  0.0055951 ] yaw=-132.3deg	[env.py: 1019]
-05/10 12:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:51:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=284.3ms, total=284.4ms	[env.py: 1075]
-05/10 12:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.682, 0.497, 0.006)	[env.py: 1079]
-05/10 12:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.6 deg	[env.py: 1082]
-05/10 12:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m	[env.py: 1086]
-05/10 12:51:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:51:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:51:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:51:11 INFO: [Worker 0] Worker 0 house 1 episode 198/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:51:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:51:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:51:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:51:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:51:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:51:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.557[m] 85.426[deg]	[grasp_sample.py: 539]
-05/10 12:51:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:51:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:51:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:51:43 INFO: [Worker 0] Worker 0 house 1 episode 197 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:51:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:51:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:52:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:52:07 INFO: [Worker 0] Saved videos eagerly for episode 149 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:52:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 12:52:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:52:12 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:52:12 INFO: [Worker 0] [PROFILE] Episode 197 house 1 success=True episode_total=0.53s:
-  episode_total: mean=199.65s, total=199.65s, count=1, min=199650.6ms, max=199650.6ms
-  sensor_polling: mean=516.6ms, total=154.99s, count=300, min=473.3ms, max=992.6ms
-  physics_step: mean=24.8ms, total=7.45s, count=300, min=17.7ms, max=39.7ms
-  save_batch_prep: mean=4.93s, total=4.93s, count=1, min=4928.8ms, max=4928.8ms
-  task_sampling: mean=532.9ms, total=532.9ms, count=1, min=532.9ms, max=532.9ms
-  task_specific_sample: mean=528.1ms, total=528.1ms, count=1, min=528.1ms, max=528.1ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=732.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:52:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:52:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:52:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:52:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:52:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:52:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:52:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:52:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:52:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:52:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:52:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:52:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:52:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001962m	[env.py: 870]
-05/10 12:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:52:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86347638  0.27287405 -0.00196209] yaw=160.0deg	[env.py: 1019]
-05/10 12:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.09304789  0.87475799 -0.00196209] yaw=-154.2deg	[env.py: 1019]
-05/10 12:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.99026596  0.48253335 -0.00196209] yaw=-175.6deg	[env.py: 1019]
-05/10 12:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:52:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=193.0ms, total=193.0ms	[env.py: 1075]
-05/10 12:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.863, 0.273, -0.002)	[env.py: 1079]
-05/10 12:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.0 deg	[env.py: 1082]
-05/10 12:52:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
-05/10 12:52:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:52:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:52:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:52:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:52:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:52:14 INFO: [Worker 0] Worker 0 house 1 episode 198/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:52:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:52:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:52:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:52:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:52:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.527s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:52:15 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.428[m] 91.078[deg]	[grasp_sample.py: 539]
-05/10 12:52:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:52:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:52:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:52:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:52:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:52:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:52:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:52:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:52:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:52:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:52:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:52:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:52:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:52:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:52:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:52:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:52:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:52:30 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.795s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:52:30 INFO: [Worker 0] Feasible grasp found 102 (originally 102): w/ 0.100[m] 0.930[deg]	[grasp_sample.py: 539]
-05/10 12:52:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:52:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:52:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:52:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:52:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:52:58 INFO: [Worker 0] Worker 0 house 1 episode 207 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:53:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:53:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:53:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:53:24 INFO: [Worker 0] Saved videos eagerly for episode 142 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:53:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 12:53:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:53:29 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:53:29 INFO: [Worker 0] [PROFILE] Episode 207 house 1 success=True episode_total=0.64s:
-  episode_total: mean=216.84s, total=216.84s, count=1, min=216839.6ms, max=216839.6ms
-  sensor_polling: mean=532.3ms, total=159.68s, count=300, min=472.8ms, max=1096.9ms
-  physics_step: mean=25.5ms, total=7.65s, count=300, min=16.2ms, max=69.2ms
-  save_batch_prep: mean=4.73s, total=4.73s, count=1, min=4726.5ms, max=4726.5ms
-  task_sampling: mean=635.6ms, total=635.6ms, count=1, min=635.6ms, max=635.6ms
-  task_specific_sample: mean=631.6ms, total=631.6ms, count=1, min=631.6ms, max=631.6ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=454.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:53:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:53:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:53:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:53:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:53:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:53:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:53:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:53:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:53:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001314m	[env.py: 870]
-05/10 12:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:53:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8473595   0.72378076 -0.00131389] yaw=-156.5deg	[env.py: 1019]
-05/10 12:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80686587  0.81831088 -0.00131389] yaw=-160.2deg	[env.py: 1019]
-05/10 12:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.12908378  1.10410968 -0.00131389] yaw=-137.0deg	[env.py: 1019]
-05/10 12:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:53:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.6ms, total=176.6ms	[env.py: 1075]
-05/10 12:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.724, -0.001)	[env.py: 1079]
-05/10 12:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg	[env.py: 1082]
-05/10 12:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m	[env.py: 1086]
-05/10 12:53:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:53:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:53:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:53:32 INFO: [Worker 0] Worker 0 house 1 episode 208/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:53:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:53:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:53:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:53:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:53:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.718s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:53:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.455[m] 87.775[deg]	[grasp_sample.py: 539]
-05/10 12:53:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:53:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:53:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:53:37 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/10 12:53:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:53:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:53:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:53:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:53:38 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:53:38 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.292[deg]	[grasp_sample.py: 539]
-05/10 12:53:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:53:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:53:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:53:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:53:53 INFO: [Worker 0] Worker 0 house 1 episode 206 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:54:04 INFO: [Worker 0] Worker 0 house 1 episode 198 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:54:19 INFO: [Worker 0] Saved videos eagerly for episode 150 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:54:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 12:54:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:54:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:54:24 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:54:24 INFO: [Worker 0] [PROFILE] Episode 206 house 1 success=True episode_total=0.52s:
-  episode_total: mean=208.89s, total=208.89s, count=1, min=208887.5ms, max=208887.5ms
-  sensor_polling: mean=539.2ms, total=161.77s, count=300, min=470.4ms, max=1032.1ms
-  physics_step: mean=26.7ms, total=8.02s, count=300, min=16.3ms, max=76.0ms
-  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4693.0ms, max=4693.0ms
-  task_sampling: mean=515.5ms, total=515.5ms, count=1, min=515.5ms, max=515.5ms
-  task_specific_sample: mean=511.4ms, total=511.4ms, count=1, min=511.4ms, max=511.4ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=466.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:54:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:54:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:54:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:54:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:54:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:54:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:54:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:54:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:54:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043880m	[env.py: 870]
-05/10 12:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:54:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9212355   1.24695579  0.04388036] yaw=-132.2deg	[env.py: 1019]
-05/10 12:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 123.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94687238  1.06489805  0.04388036] yaw=-142.9deg	[env.py: 1019]
-05/10 12:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.62662214  0.26950255  0.04388036] yaw=173.0deg	[env.py: 1019]
-05/10 12:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:54:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.3ms, total=200.3ms	[env.py: 1075]
-05/10 12:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.921, 1.247, 0.044)	[env.py: 1079]
-05/10 12:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.2 deg	[env.py: 1082]
-05/10 12:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m	[env.py: 1086]
-05/10 12:54:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:54:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:54:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:54:27 INFO: [Worker 0] Worker 0 house 1 episode 207/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:54:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:54:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:54:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:54:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:54:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.627s, found feasible grasp: False	[grasp_sample.py: 500]
-05/10 12:54:28 ERROR: [Worker 0] Worker 0 house 1 episode 207 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/10 12:54:28 INFO: [Worker 0] Saved videos eagerly for episode 143 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:54:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 12:54:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:54:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:54:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:54:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:54:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:54:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:54:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:54:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:54:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:54:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:54:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001564m	[env.py: 870]
-05/10 12:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:54:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04768427  0.91138674 -0.00156441] yaw=-141.6deg	[env.py: 1019]
-05/10 12:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95452466  0.28458285 -0.00156441] yaw=155.2deg	[env.py: 1019]
-05/10 12:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.10881398  1.12105439 -0.00156441] yaw=-129.7deg	[env.py: 1019]
-05/10 12:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:54:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.9ms, total=166.9ms	[env.py: 1075]
-05/10 12:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.048, 0.911, -0.002)	[env.py: 1079]
-05/10 12:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.6 deg	[env.py: 1082]
-05/10 12:54:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.783m	[env.py: 1086]
-05/10 12:54:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:54:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:54:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:54:30 INFO: [Worker 0] Worker 0 house 1 episode 208/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:54:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:54:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:54:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:54:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:54:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.536s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:54:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.400[m] 97.405[deg]	[grasp_sample.py: 539]
-05/10 12:54:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:54:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:54:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:54:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:54:33 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:54:33 INFO: [Worker 0] [PROFILE] Episode 198 house 1 success=True episode_total=0.65s:
-  episode_total: mean=202.59s, total=202.59s, count=1, min=202590.2ms, max=202590.2ms
-  sensor_polling: mean=537.5ms, total=161.25s, count=300, min=471.1ms, max=1055.7ms
-  physics_step: mean=26.2ms, total=7.86s, count=300, min=18.4ms, max=87.8ms
-  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4433.6ms, max=4433.6ms
-  task_sampling: mean=649.8ms, total=649.8ms, count=1, min=649.8ms, max=649.8ms
-  task_specific_sample: mean=645.9ms, total=645.9ms, count=1, min=645.9ms, max=645.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=452.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:54:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:54:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:54:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:54:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:54:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:54:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:54:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:54:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:54:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:54:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:54:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034475m	[env.py: 870]
-05/10 12:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:54:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74166744  0.81820229  0.03447541] yaw=-167.1deg	[env.py: 1019]
-05/10 12:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87115848  1.122244    0.03447541] yaw=-137.1deg	[env.py: 1019]
-05/10 12:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91705945  0.98018134  0.03447541] yaw=-138.7deg	[env.py: 1019]
-05/10 12:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:54:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=364.8ms, total=364.8ms	[env.py: 1075]
-05/10 12:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.742, 0.818, 0.034)	[env.py: 1079]
-05/10 12:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.1 deg	[env.py: 1082]
-05/10 12:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
-05/10 12:54:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:54:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:54:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:54:35 INFO: [Worker 0] Worker 0 house 1 episode 199/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:54:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:54:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:54:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:54:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:54:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:54:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.688s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:54:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.603[m] 87.167[deg]	[grasp_sample.py: 539]
-05/10 12:54:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:54:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:54:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:54:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:54:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:54:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:54:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:54:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:54:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:54:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:54:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:54:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:54:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:54:44 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.437s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:54:44 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.094[deg]	[grasp_sample.py: 539]
-05/10 12:54:45 ERROR: [Worker 0] Worker 0 house 1 episode 198 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 12:54:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:54:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:54:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:54:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:54:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:54:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:54:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:54:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:54:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:54:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:54:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020972m	[env.py: 870]
-05/10 12:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:54:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.14558181  0.9367257   0.02097242] yaw=-149.0deg	[env.py: 1019]
-05/10 12:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:54:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=369.3ms, total=369.3ms	[env.py: 1075]
-05/10 12:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.146, 0.937, 0.021)	[env.py: 1079]
-05/10 12:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg	[env.py: 1082]
-05/10 12:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.719m	[env.py: 1086]
-05/10 12:54:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:54:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:54:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:54:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:54:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:54:48 INFO: [Worker 0] Worker 0 house 1 episode 199/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:54:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:54:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:54:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:54:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:54:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.533s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:54:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.304[m] 86.586[deg]	[grasp_sample.py: 539]
-05/10 12:54:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:54:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:54:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:55:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:55:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:55:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:55:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:55:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:55:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:55:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:55:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:55:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:56:16 INFO: [Worker 0] Worker 0 house 1 episode 208 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:56:40 INFO: [Worker 0] Saved videos eagerly for episode 143 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:56:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 12:56:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:56:44 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:56:44 INFO: [Worker 0] [PROFILE] Episode 208 house 1 success=True episode_total=0.52s:
-  episode_total: mean=193.28s, total=193.28s, count=1, min=193284.8ms, max=193284.8ms
-  sensor_polling: mean=512.0ms, total=153.61s, count=300, min=467.3ms, max=1122.5ms
-  physics_step: mean=23.8ms, total=7.15s, count=300, min=19.0ms, max=48.4ms
-  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4494.0ms, max=4494.0ms
-  task_sampling: mean=521.2ms, total=521.2ms, count=1, min=521.2ms, max=521.2ms
-  task_specific_sample: mean=517.1ms, total=517.1ms, count=1, min=517.1ms, max=517.1ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=460.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:56:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:56:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:56:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:56:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:56:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:56:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:56:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:56:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:56:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020161m	[env.py: 870]
-05/10 12:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:56:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86916226  0.59365556 -0.02016143] yaw=-179.1deg	[env.py: 1019]
-05/10 12:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.0039259   0.27242941 -0.02016143] yaw=156.5deg	[env.py: 1019]
-05/10 12:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:56:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=604.2ms, total=604.2ms	[env.py: 1075]
-05/10 12:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.594, -0.020)	[env.py: 1079]
-05/10 12:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.1 deg	[env.py: 1082]
-05/10 12:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
-05/10 12:56:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:56:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:56:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:56:47 INFO: [Worker 0] Worker 0 house 1 episode 209/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:56:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.158s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:56:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:56:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:56:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:56:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.833s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:56:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.388[m] 88.799[deg]	[grasp_sample.py: 539]
-05/10 12:56:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:56:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:56:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:57:14 INFO: [Worker 0] Worker 0 house 1 episode 208 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:57:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:57:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:57:21 INFO: [Worker 0] Worker 0 house 1 episode 199 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 12:57:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:57:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:57:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:57:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:57:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:57:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:57:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:57:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 12:57:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 12:57:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:57:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:57:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:57:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.738s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:57:34 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.390[deg]	[grasp_sample.py: 539]
-05/10 12:57:36 ERROR: [Worker 0] Worker 0 house 1 episode 199 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 12:57:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:57:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:57:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:57:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:57:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:57:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:57:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:57:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:57:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003301m	[env.py: 870]
-05/10 12:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:57:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98805237  1.02702427 -0.0033007 ] yaw=-137.0deg	[env.py: 1019]
-05/10 12:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.24830194  1.04673531 -0.0033007 ] yaw=-119.0deg	[env.py: 1019]
-05/10 12:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:57:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=509.8ms, total=509.8ms	[env.py: 1075]
-05/10 12:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.988, 1.027, -0.003)	[env.py: 1079]
-05/10 12:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.0 deg	[env.py: 1082]
-05/10 12:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m	[env.py: 1086]
-05/10 12:57:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:57:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:57:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:57:38 INFO: [Worker 0] Worker 0 house 1 episode 200/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:57:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:57:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:57:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:57:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:57:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.750s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:57:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.441[m] 88.593[deg]	[grasp_sample.py: 539]
-05/10 12:57:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:57:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:57:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:57:41 INFO: [Worker 0] Saved videos eagerly for episode 151 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:57:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 12:57:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:57:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:57:46 INFO: [Worker 0] Saved videos eagerly for episode 144 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 12:57:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 12:57:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 12:57:47 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:57:47 INFO: [Worker 0] [PROFILE] Episode 208 house 1 success=True episode_total=0.94s:
-  episode_total: mean=99.69s, total=199.38s, count=2, min=2270.4ms, max=197111.6ms
-  sensor_polling: mean=507.2ms, total=152.17s, count=300, min=456.3ms, max=925.7ms
-  physics_step: mean=24.4ms, total=7.31s, count=300, min=17.2ms, max=47.4ms
-  save_batch_prep: mean=5.95s, total=5.95s, count=1, min=5951.6ms, max=5951.6ms
-  task_sampling: mean=468.0ms, total=936.0ms, count=2, min=426.4ms, max=509.6ms
-  task_specific_sample: mean=464.4ms, total=928.8ms, count=2, min=423.1ms, max=505.7ms
-  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.3ms, max=2.5ms
-  mj_forward_sync: mean=449.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:57:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:57:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:57:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:57:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:57:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:57:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:57:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:57:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:57:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:57:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040797m	[env.py: 870]
-05/10 12:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:57:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96837514  0.20411375 -0.04079729] yaw=168.5deg	[env.py: 1019]
-05/10 12:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.22708049  1.01868222 -0.04079729] yaw=-128.0deg	[env.py: 1019]
-05/10 12:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9500688   0.31402212 -0.04079729] yaw=160.5deg	[env.py: 1019]
-05/10 12:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:57:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=228.2ms, total=228.2ms	[env.py: 1075]
-05/10 12:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.968, 0.204, -0.041)	[env.py: 1079]
-05/10 12:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.5 deg	[env.py: 1082]
-05/10 12:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.785m	[env.py: 1086]
-05/10 12:57:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:57:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:57:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:57:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:57:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:57:50 INFO: [Worker 0] Worker 0 house 1 episode 209/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:57:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:57:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:57:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:57:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:57:50 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 12:57:51 INFO: [Worker 0] [PROFILE] Episode 199 house 1 success=True episode_total=0.70s:
-  episode_total: mean=195.86s, total=195.86s, count=1, min=195864.2ms, max=195864.2ms
-  sensor_polling: mean=511.8ms, total=153.53s, count=300, min=464.8ms, max=1045.9ms
-  physics_step: mean=23.5ms, total=7.06s, count=300, min=19.2ms, max=60.9ms
-  save_batch_prep: mean=4.94s, total=4.94s, count=1, min=4944.1ms, max=4944.1ms
-  task_sampling: mean=700.8ms, total=700.8ms, count=1, min=700.8ms, max=700.8ms
-  task_specific_sample: mean=696.9ms, total=696.9ms, count=1, min=696.9ms, max=696.9ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=466.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 12:57:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.608s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:57:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.385[m] 93.174[deg]	[grasp_sample.py: 539]
-05/10 12:57:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:57:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:57:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:57:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 12:57:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 12:57:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 12:57:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:57:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:57:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 12:57:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 12:57:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 12:57:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 12:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 12:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 12:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010271m	[env.py: 870]
-05/10 12:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 12:57:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 12:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 12:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81253773  0.5713105   0.01027103] yaw=-167.5deg	[env.py: 1019]
-05/10 12:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 12:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89819051  1.05412164  0.01027103] yaw=-141.4deg	[env.py: 1019]
-05/10 12:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 12:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 12:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.22516012  1.0274456   0.01027103] yaw=-130.9deg	[env.py: 1019]
-05/10 12:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 12:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 12:57:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.7ms, total=168.7ms	[env.py: 1075]
-05/10 12:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.813, 0.571, 0.010)	[env.py: 1079]
-05/10 12:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg	[env.py: 1082]
-05/10 12:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
-05/10 12:57:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 12:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 12:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 12:57:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 12:57:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 12:57:53 INFO: [Worker 0] Worker 0 house 1 episode 200/240 collected=0/40	[pipeline.py: 1044]
-05/10 12:57:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/10 12:57:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 12:57:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 12:57:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 12:57:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.550s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 12:57:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.460[m] 85.782[deg]	[grasp_sample.py: 539]
-05/10 12:57:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 12:57:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 12:57:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:58:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:58:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:58:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:58:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:58:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:58:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:58:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:58:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 12:59:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 12:59:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:59:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:59:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 12:59:47 INFO: [Worker 0] Worker 0 house 1 episode 209 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 13:00:13 INFO: [Worker 0] Saved videos eagerly for episode 144 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 13:00:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 13:00:13 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/10 13:00:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:00:17 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 13:00:18 INFO: [Worker 0] [PROFILE] Episode 209 house 1 success=True episode_total=0.96s:
-  episode_total: mean=211.23s, total=211.23s, count=1, min=211225.1ms, max=211225.1ms
-  sensor_polling: mean=533.2ms, total=159.43s, count=299, min=471.0ms, max=1122.6ms
-  physics_step: mean=26.9ms, total=8.05s, count=299, min=16.2ms, max=76.8ms
-  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4510.7ms, max=4510.7ms
-  task_sampling: mean=956.6ms, total=956.6ms, count=1, min=956.6ms, max=956.6ms
-  task_specific_sample: mean=952.1ms, total=952.1ms, count=1, min=952.1ms, max=952.1ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=524.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 13:00:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:00:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 13:00:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 13:00:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 13:00:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:00:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:00:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:00:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:00:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 13:00:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 13:00:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 13:00:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 13:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 13:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 13:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023644m	[env.py: 870]
-05/10 13:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 13:00:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 13:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 13:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82623959  1.03704828 -0.02364371] yaw=-150.6deg	[env.py: 1019]
-05/10 13:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 13:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76844766  0.76959963 -0.02364371] yaw=-173.0deg	[env.py: 1019]
-05/10 13:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 13:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01061428  0.8168966  -0.02364371] yaw=-150.1deg	[env.py: 1019]
-05/10 13:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 13:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 13:00:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.1ms, total=125.1ms	[env.py: 1075]
-05/10 13:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.826, 1.037, -0.024)	[env.py: 1079]
-05/10 13:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.6 deg	[env.py: 1082]
-05/10 13:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
-05/10 13:00:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:00:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:00:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:00:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:00:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 13:00:20 INFO: [Worker 0] Worker 0 house 1 episode 210/240 collected=0/40	[pipeline.py: 1044]
-05/10 13:00:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 13:00:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 13:00:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 13:00:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 13:00:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:00:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:00:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:00:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.053s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 13:00:23 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.614[m] 92.045[deg]	[grasp_sample.py: 539]
-05/10 13:00:24 ERROR: [Worker 0] Worker 0 house 1 episode 210 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 13:00:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:00:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:00:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 13:00:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 13:00:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 13:00:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:00:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:00:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 13:00:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 13:00:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 13:00:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 13:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 13:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 13:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020889m	[env.py: 870]
-05/10 13:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 13:00:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 13:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 13:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68172039  0.85845405 -0.02088921] yaw=-159.8deg	[env.py: 1019]
-05/10 13:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 13:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:00:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04298035  1.10623646 -0.02088921] yaw=-147.9deg	[env.py: 1019]
-05/10 13:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 13:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68056954  0.80392719 -0.02088921] yaw=-160.3deg	[env.py: 1019]
-05/10 13:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 13:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 13:00:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=243.6ms, total=243.6ms	[env.py: 1075]
-05/10 13:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.682, 0.858, -0.021)	[env.py: 1079]
-05/10 13:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.8 deg	[env.py: 1082]
-05/10 13:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
-05/10 13:00:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:00:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:00:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 13:00:26 INFO: [Worker 0] Worker 0 house 1 episode 211/240 collected=0/40	[pipeline.py: 1044]
-05/10 13:00:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
-05/10 13:00:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 13:00:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 13:00:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 13:00:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:00:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:00:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:00:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.889s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 13:00:29 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.617[m] 75.641[deg]	[grasp_sample.py: 539]
-05/10 13:00:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:00:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 13:00:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 13:00:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 13:00:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 13:00:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 13:00:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:00:31 ERROR: [Worker 0] Worker 0 house 1 episode 211 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 13:00:31 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.747s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 13:00:31 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.382[deg]	[grasp_sample.py: 539]
-05/10 13:00:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:00:32 ERROR: [Worker 0] Worker 0 house 1 episode 200 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 13:00:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 13:00:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 13:00:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 13:00:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:00:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:00:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 13:00:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 13:00:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 13:00:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 13:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 13:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 13:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023833m	[env.py: 870]
-05/10 13:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 13:00:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 13:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 13:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01402762  0.70272513 -0.02383304] yaw=-155.9deg	[env.py: 1019]
-05/10 13:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 13:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82569461  0.3151626  -0.02383304] yaw=175.3deg	[env.py: 1019]
-05/10 13:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 13:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.13101875  0.96316429 -0.02383304] yaw=-149.2deg	[env.py: 1019]
-05/10 13:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 13:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 13:00:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=300.1ms, total=300.2ms	[env.py: 1075]
-05/10 13:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.014, 0.703, -0.024)	[env.py: 1079]
-05/10 13:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.9 deg	[env.py: 1082]
-05/10 13:00:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.723m	[env.py: 1086]
-05/10 13:00:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:00:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:00:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:00:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 13:00:33 INFO: [Worker 0] Worker 0 house 1 episode 212/240 collected=0/40	[pipeline.py: 1044]
-05/10 13:00:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
-05/10 13:00:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 13:00:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 13:00:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 13:00:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.497s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 13:00:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.287[m] 87.049[deg]	[grasp_sample.py: 539]
-05/10 13:00:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 13:00:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:00:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 13:00:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:00:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 13:00:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 13:00:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 13:00:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:00:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:00:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:00:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:00:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 13:00:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 13:00:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 13:00:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 13:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 13:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 13:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028133m	[env.py: 870]
-05/10 13:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 13:00:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 13:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 13:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94931051  0.6485459   0.02813285] yaw=-170.4deg	[env.py: 1019]
-05/10 13:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 13:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94280534  0.32252083  0.02813285] yaw=165.4deg	[env.py: 1019]
-05/10 13:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 13:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86413658  0.80710127  0.02813285] yaw=-154.9deg	[env.py: 1019]
-05/10 13:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 13:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 13:00:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=239.7ms, total=239.7ms	[env.py: 1075]
-05/10 13:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.649, 0.028)	[env.py: 1079]
-05/10 13:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.4 deg	[env.py: 1082]
-05/10 13:00:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.771m	[env.py: 1086]
-05/10 13:00:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:00:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:00:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:00:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:00:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 13:00:35 INFO: [Worker 0] Worker 0 house 1 episode 201/240 collected=0/40	[pipeline.py: 1044]
-05/10 13:00:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/10 13:00:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 13:00:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 13:00:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 13:00:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.533s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 13:00:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.335[m] 91.668[deg]	[grasp_sample.py: 539]
-05/10 13:00:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 13:00:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:00:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 13:00:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 13:00:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 13:00:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 13:00:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps	[grasp_sample.py: 465]
-05/10 13:00:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 13:00:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:00:37 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.513s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 13:00:37 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.351[deg]	[grasp_sample.py: 539]
-05/10 13:00:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 13:00:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 13:00:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:00:39 INFO: [Worker 0] Worker 0 house 1 episode 200 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 13:00:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:00:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 13:01:02 INFO: [Worker 0] Saved videos eagerly for episode 145 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 13:01:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 13:01:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 13:01:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:01:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:01:06 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 13:01:06 INFO: [Worker 0] [PROFILE] Episode 200 house 1 success=True episode_total=0.49s:
-  episode_total: mean=193.98s, total=193.98s, count=1, min=193978.5ms, max=193978.5ms
-  sensor_polling: mean=517.9ms, total=155.36s, count=300, min=470.5ms, max=934.3ms
-  physics_step: mean=23.6ms, total=7.09s, count=300, min=16.3ms, max=64.6ms
-  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4479.3ms, max=4479.3ms
-  task_sampling: mean=494.5ms, total=494.5ms, count=1, min=494.5ms, max=494.5ms
-  task_specific_sample: mean=490.6ms, total=490.6ms, count=1, min=490.6ms, max=490.6ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=443.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 13:01:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 13:01:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 13:01:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 13:01:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:01:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:01:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:01:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:01:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 13:01:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 13:01:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 13:01:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 13:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 13:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 13:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033558m	[env.py: 870]
-05/10 13:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 13:01:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 13:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 13:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88511458  1.05116071 -0.03355836] yaw=-137.3deg	[env.py: 1019]
-05/10 13:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 13:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.066673    1.21846162 -0.03355836] yaw=-134.5deg	[env.py: 1019]
-05/10 13:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 13:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03982791  0.16527294 -0.03355836] yaw=147.0deg	[env.py: 1019]
-05/10 13:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 13:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 13:01:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.2ms, total=126.2ms	[env.py: 1075]
-05/10 13:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.885, 1.051, -0.034)	[env.py: 1079]
-05/10 13:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg	[env.py: 1082]
-05/10 13:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
-05/10 13:01:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:01:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:01:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:01:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:01:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 13:01:09 INFO: [Worker 0] Worker 0 house 1 episode 201/240 collected=0/40	[pipeline.py: 1044]
-05/10 13:01:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/10 13:01:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 13:01:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 13:01:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 13:01:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.689s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 13:01:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.608[m] 95.284[deg]	[grasp_sample.py: 539]
-05/10 13:01:13 ERROR: [Worker 0] Worker 0 house 1 episode 201 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 13:01:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 13:01:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 13:01:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 13:01:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 13:01:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:01:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:01:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 13:01:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 13:01:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 13:01:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 13:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 13:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 13:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019658m	[env.py: 870]
-05/10 13:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 13:01:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 13:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 13:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:01:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76310293  0.39710463 -0.01965818] yaw=168.7deg	[env.py: 1019]
-05/10 13:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 13:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 13:01:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=428.6ms, total=428.6ms	[env.py: 1075]
-05/10 13:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.763, 0.397, -0.020)	[env.py: 1079]
-05/10 13:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.7 deg	[env.py: 1082]
-05/10 13:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m	[env.py: 1086]
-05/10 13:01:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:01:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:01:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 13:01:16 INFO: [Worker 0] Worker 0 house 1 episode 202/240 collected=0/40	[pipeline.py: 1044]
-05/10 13:01:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/10 13:01:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 13:01:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 13:01:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 13:01:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.558s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 13:01:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.504[m] 86.889[deg]	[grasp_sample.py: 539]
-05/10 13:01:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 13:01:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 13:01:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:01:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:01:25 INFO: [Worker 0] Worker 0 house 1 episode 209 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 13:01:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 13:01:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:01:52 INFO: [Worker 0] Saved videos eagerly for episode 152 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 13:01:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 13:01:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 13:01:57 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 13:01:57 INFO: [Worker 0] [PROFILE] Episode 209 house 1 success=True episode_total=0.54s:
-  episode_total: mean=247.86s, total=247.86s, count=1, min=247858.0ms, max=247858.0ms
-  sensor_polling: mean=550.8ms, total=165.25s, count=300, min=476.8ms, max=1044.7ms
-  physics_step: mean=27.9ms, total=8.36s, count=300, min=15.9ms, max=43.3ms
-  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4587.1ms, max=4587.1ms
-  task_sampling: mean=535.9ms, total=535.9ms, count=1, min=535.9ms, max=535.9ms
-  task_specific_sample: mean=531.4ms, total=531.4ms, count=1, min=531.4ms, max=531.4ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=597.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 13:01:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 13:01:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 13:01:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 13:01:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:01:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:01:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 13:01:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 13:01:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 13:01:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 13:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 13:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 13:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017612m	[env.py: 870]
-05/10 13:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 13:01:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 13:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 13:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96226604  0.49429274  0.01761164] yaw=-175.9deg	[env.py: 1019]
-05/10 13:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 13:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.18052937  1.13520062  0.01761164] yaw=-135.1deg	[env.py: 1019]
-05/10 13:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 13:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90365356  0.97801867  0.01761164] yaw=-151.3deg	[env.py: 1019]
-05/10 13:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 13:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 13:01:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=341.8ms, total=341.8ms	[env.py: 1075]
-05/10 13:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.962, 0.494, 0.018)	[env.py: 1079]
-05/10 13:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.9 deg	[env.py: 1082]
-05/10 13:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.740m	[env.py: 1086]
-05/10 13:01:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:01:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:02:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 13:02:00 INFO: [Worker 0] Worker 0 house 1 episode 210/240 collected=0/40	[pipeline.py: 1044]
-05/10 13:02:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/10 13:02:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 13:02:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 13:02:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 13:02:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.483s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 13:02:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.290[m] 85.743[deg]	[grasp_sample.py: 539]
-05/10 13:02:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 13:02:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 13:02:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:02:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:02:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 13:02:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:02:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:02:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 13:02:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:03:16 INFO: [Worker 0] Worker 0 house 1 episode 212 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 13:03:29 INFO: [Worker 0] Worker 0 house 1 episode 201 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 13:03:38 INFO: [Worker 0] Saved videos eagerly for episode 145 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 13:03:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 13:03:38 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
-05/10 13:03:43 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 13:03:43 INFO: [Worker 0] [PROFILE] Episode 212 house 1 success=True episode_total=1.52s:
-  episode_total: mean=66.77s, total=200.30s, count=3, min=4744.2ms, max=190747.1ms
-  sensor_polling: mean=542.7ms, total=151.41s, count=279, min=477.3ms, max=979.0ms
-  physics_step: mean=26.0ms, total=7.27s, count=279, min=19.7ms, max=79.7ms
-  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4558.4ms, max=4558.4ms
-  task_sampling: mean=505.9ms, total=1.52s, count=3, min=438.4ms, max=566.4ms
-  task_specific_sample: mean=502.5ms, total=1.51s, count=3, min=434.1ms, max=563.5ms
-  scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.3ms, max=2.8ms
-  mj_forward_sync: mean=455.5us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 13:03:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 13:03:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 13:03:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 13:03:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:03:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:03:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 13:03:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 13:03:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 13:03:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 13:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 13:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 13:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046320m	[env.py: 870]
-05/10 13:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 13:03:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 13:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 13:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96233497  0.86797622 -0.04631971] yaw=-156.4deg	[env.py: 1019]
-05/10 13:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 13:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88528491  1.05121832 -0.04631971] yaw=-138.4deg	[env.py: 1019]
-05/10 13:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 13:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94933458  0.78053382 -0.04631971] yaw=-151.2deg	[env.py: 1019]
-05/10 13:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 13:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 13:03:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.8ms, total=100.9ms	[env.py: 1075]
-05/10 13:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.962, 0.868, -0.046)	[env.py: 1079]
-05/10 13:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.4 deg	[env.py: 1082]
-05/10 13:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
-05/10 13:03:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:03:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:03:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 13:03:46 INFO: [Worker 0] Worker 0 house 1 episode 213/240 collected=0/40	[pipeline.py: 1044]
-05/10 13:03:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
-05/10 13:03:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 13:03:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 13:03:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 13:03:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.598s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 13:03:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.414[m] 86.262[deg]	[grasp_sample.py: 539]
-05/10 13:03:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 13:03:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 13:03:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:03:52 INFO: [Worker 0] Saved videos eagerly for episode 150 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 13:03:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 13:03:52 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
-05/10 13:03:56 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 13:03:56 INFO: [Worker 0] [PROFILE] Episode 201 house 1 success=True episode_total=2.59s:
-  episode_total: mean=174.22s, total=696.87s, count=4, min=151398.9ms, max=201816.3ms
-  sensor_polling: mean=531.6ms, total=582.15s, count=1095, min=462.3ms, max=1019.7ms
-  physics_step: mean=25.8ms, total=28.25s, count=1095, min=18.0ms, max=131.3ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4044.8ms, max=4044.8ms
-  task_sampling: mean=647.9ms, total=2.59s, count=4, min=510.2ms, max=819.8ms
-  task_specific_sample: mean=644.1ms, total=2.58s, count=4, min=506.1ms, max=815.9ms
-  scene_randomize: mean=1.7ms, total=7.0ms, count=4, min=1.4ms, max=2.7ms
-  mj_forward_sync: mean=477.9us, total=1.9ms, count=4, min=0.4ms, max=0.5ms
-  policy_setup: mean=17.1us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 13:03:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 13:03:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 13:03:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 13:03:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:03:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:03:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:03:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:03:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 13:03:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 13:03:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 13:03:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 13:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 13:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 13:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015979m	[env.py: 870]
-05/10 13:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 13:03:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 13:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 13:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7862306   0.67922558  0.0159789 ] yaw=-176.0deg	[env.py: 1019]
-05/10 13:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 13:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.19307654  0.97458773  0.0159789 ] yaw=-133.7deg	[env.py: 1019]
-05/10 13:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 13:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.63665281  0.54737316  0.0159789 ] yaw=-173.5deg	[env.py: 1019]
-05/10 13:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 13:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 13:03:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.4ms, total=139.4ms	[env.py: 1075]
-05/10 13:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.679, 0.016)	[env.py: 1079]
-05/10 13:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.0 deg	[env.py: 1082]
-05/10 13:03:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
-05/10 13:03:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:03:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:03:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:03:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:03:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 13:03:59 INFO: [Worker 0] Worker 0 house 1 episode 202/240 collected=0/40	[pipeline.py: 1044]
-05/10 13:03:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
-05/10 13:03:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 13:03:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 13:03:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 13:03:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 13:03:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.517[m] 95.307[deg]	[grasp_sample.py: 539]
-05/10 13:03:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 13:04:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 13:04:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:04:14 INFO: [Worker 0] Worker 0 house 1 episode 202 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 13:04:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:04:38 INFO: [Worker 0] Saved videos eagerly for episode 146 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 13:04:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 13:04:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 13:04:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 13:04:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:04:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 13:04:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 13:04:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.63s (batch: 4.44s, save: 9.19s)	[pipeline.py: 300]
-05/10 13:04:52 INFO: [Worker 0] [PROFILE] Episode 202 house 1 success=True episode_total=1.13s:
-  episode_total: mean=111.05s, total=222.10s, count=2, min=5278.9ms, max=216824.9ms
-  sensor_polling: mean=551.1ms, total=165.32s, count=300, min=467.2ms, max=1004.8ms
-  save_trajectories: mean=9.19s, total=9.19s, count=1, min=9186.5ms, max=9186.5ms
-  physics_step: mean=28.1ms, total=8.44s, count=300, min=19.7ms, max=99.9ms
-  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4444.6ms, max=4444.6ms
-  task_sampling: mean=566.4ms, total=1.13s, count=2, min=443.7ms, max=689.1ms
-  task_specific_sample: mean=562.7ms, total=1.13s, count=2, min=439.7ms, max=685.6ms
-  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.5ms, max=2.6ms
-  mj_forward_sync: mean=500.0us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 13:04:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 13:04:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 13:04:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 13:04:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:04:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:04:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 13:04:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 13:04:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 13:04:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 13:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 13:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 13:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004393m	[env.py: 870]
-05/10 13:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 13:04:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 13:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 13:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07359831  0.87719819  0.00439299] yaw=-149.9deg	[env.py: 1019]
-05/10 13:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 13:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68891811  0.48718953  0.00439299] yaw=-184.5deg	[env.py: 1019]
-05/10 13:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 13:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81857051  0.93683715  0.00439299] yaw=-161.0deg	[env.py: 1019]
-05/10 13:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 13:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 13:04:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.9ms, total=145.9ms	[env.py: 1075]
-05/10 13:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.074, 0.877, 0.004)	[env.py: 1079]
-05/10 13:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.9 deg	[env.py: 1082]
-05/10 13:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.743m	[env.py: 1086]
-05/10 13:04:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:04:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:04:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:04:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 13:04:54 INFO: [Worker 0] Worker 0 house 1 episode 203/240 collected=0/40	[pipeline.py: 1044]
-05/10 13:04:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/10 13:04:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 13:04:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 13:04:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 13:04:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 13:04:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.299[m] 87.450[deg]	[grasp_sample.py: 539]
-05/10 13:04:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 13:04:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 13:04:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:04:59 INFO: [Worker 0] Worker 0 house 1 episode 210 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 13:05:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 13:05:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:05:24 INFO: [Worker 0] Saved videos eagerly for episode 153 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 13:05:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/10 13:05:24 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
-05/10 13:05:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:05:28 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 13:05:28 INFO: [Worker 0] [PROFILE] Episode 210 house 1 success=True episode_total=0.65s:
-  episode_total: mean=209.40s, total=209.40s, count=1, min=209396.4ms, max=209396.4ms
-  sensor_polling: mean=533.9ms, total=148.95s, count=279, min=467.0ms, max=805.9ms
-  physics_step: mean=25.7ms, total=7.18s, count=279, min=16.6ms, max=109.6ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4391.5ms, max=4391.5ms
-  task_sampling: mean=646.9ms, total=646.9ms, count=1, min=646.9ms, max=646.9ms
-  task_specific_sample: mean=643.0ms, total=643.0ms, count=1, min=643.0ms, max=643.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=445.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 13:05:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 13:05:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 13:05:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 13:05:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:05:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:05:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:05:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:05:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 13:05:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 13:05:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 13:05:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 13:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 13:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 13:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016238m	[env.py: 870]
-05/10 13:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 13:05:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 13:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 13:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13682179  1.07440848  0.01623817] yaw=-126.5deg	[env.py: 1019]
-05/10 13:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 13:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72228372  0.310926    0.01623817] yaw=158.6deg	[env.py: 1019]
-05/10 13:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 13:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.69006827  0.85414413  0.01623817] yaw=-168.4deg	[env.py: 1019]
-05/10 13:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 13:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 13:05:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=356.4ms, total=356.4ms	[env.py: 1075]
-05/10 13:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.137, 1.074, 0.016)	[env.py: 1079]
-05/10 13:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.5 deg	[env.py: 1082]
-05/10 13:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
-05/10 13:05:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:05:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:05:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:05:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:05:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 13:05:31 INFO: [Worker 0] Worker 0 house 1 episode 211/240 collected=0/40	[pipeline.py: 1044]
-05/10 13:05:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/10 13:05:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 13:05:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 13:05:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 13:05:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.617s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 13:05:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.410[m] 89.808[deg]	[grasp_sample.py: 539]
-05/10 13:05:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 13:05:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 13:05:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:05:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 13:05:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:06:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:06:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/10 13:06:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:06:44 INFO: [Worker 0] Worker 0 house 1 episode 213 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 13:07:00 INFO: [Worker 0] Worker 0 house 1 episode 202 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 13:07:14 INFO: [Worker 0] Saved videos eagerly for episode 146 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 13:07:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/10 13:07:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 13:07:20 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/10 13:07:20 INFO: [Worker 0] [PROFILE] Episode 213 house 1 success=True episode_total=0.49s:
-  episode_total: mean=215.23s, total=215.23s, count=1, min=215225.7ms, max=215225.7ms
-  sensor_polling: mean=552.6ms, total=165.79s, count=300, min=470.9ms, max=1200.2ms
-  physics_step: mean=26.5ms, total=7.94s, count=300, min=16.6ms, max=136.9ms
-  save_batch_prep: mean=5.81s, total=5.81s, count=1, min=5806.3ms, max=5806.3ms
-  task_sampling: mean=488.4ms, total=488.4ms, count=1, min=488.4ms, max=488.4ms
-  task_specific_sample: mean=483.9ms, total=483.9ms, count=1, min=483.9ms, max=483.9ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=483.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 13:07:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 13:07:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 13:07:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 13:07:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:07:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:07:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 13:07:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 13:07:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 13:07:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 13:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 13:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 13:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048292m	[env.py: 870]
-05/10 13:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 13:07:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 13:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 13:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68399356  0.48900941 -0.04829168] yaw=-171.8deg	[env.py: 1019]
-05/10 13:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 13:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71838785  0.82025758 -0.04829168] yaw=-169.8deg	[env.py: 1019]
-05/10 13:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 13:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9976729   0.61266795 -0.04829168] yaw=-178.5deg	[env.py: 1019]
-05/10 13:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 13:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 13:07:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.1ms, total=128.1ms	[env.py: 1075]
-05/10 13:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.684, 0.489, -0.048)	[env.py: 1079]
-05/10 13:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.8 deg	[env.py: 1082]
-05/10 13:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
-05/10 13:07:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:07:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:07:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 13:07:23 INFO: [Worker 0] Worker 0 house 1 episode 214/240 collected=0/40	[pipeline.py: 1044]
-05/10 13:07:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
-05/10 13:07:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 13:07:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 13:07:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 13:07:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.079s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 13:07:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.585[m] 87.724[deg]	[grasp_sample.py: 539]
-05/10 13:07:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 13:07:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 13:07:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:07:29 INFO: [Worker 0] Saved videos eagerly for episode 151 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 13:07:29 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/10 13:07:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/10 13:07:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 13:07:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 13:07:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 19.49s (batch: 5.18s, save: 14.31s)	[pipeline.py: 300]
-05/10 13:07:50 INFO: [Worker 0] [PROFILE] Episode 202 house 1 success=True episode_total=0.45s:
-  episode_total: mean=231.63s, total=231.63s, count=1, min=231628.2ms, max=231628.2ms
-  sensor_polling: mean=563.2ms, total=168.95s, count=300, min=475.7ms, max=986.3ms
-  save_trajectories: mean=14.31s, total=14.31s, count=1, min=14308.2ms, max=14308.2ms
-  physics_step: mean=27.7ms, total=8.31s, count=300, min=15.7ms, max=131.4ms
-  save_batch_prep: mean=5.18s, total=5.18s, count=1, min=5181.0ms, max=5181.0ms
-  task_sampling: mean=449.7ms, total=449.7ms, count=1, min=449.7ms, max=449.7ms
-  task_specific_sample: mean=446.0ms, total=446.0ms, count=1, min=446.0ms, max=446.0ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=472.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 13:07:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 13:07:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 13:07:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 13:07:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:07:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:07:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:07:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:07:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 13:07:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 13:07:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 13:07:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.000m, effective arm-mount z=0.860m (base_body_z=-0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 13:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 13:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 13:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000173m	[env.py: 870]
-05/10 13:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 13:07:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 13:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 13:07:52 INFO: [Worker 0] Worker 0 house 1 episode 203 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
-05/10 13:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 130.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-7.99095401e-01  7.82648962e-01 -1.73459487e-04] yaw=-165.3deg	[env.py: 1019]
-05/10 13:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 13:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.93311843e-01  4.68969470e-01 -1.73459487e-04] yaw=180.1deg	[env.py: 1019]
-05/10 13:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 13:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02895767e+00  9.49967935e-01 -1.73459487e-04] yaw=-140.2deg	[env.py: 1019]
-05/10 13:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 13:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 13:07:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=495.9ms, total=496.0ms	[env.py: 1075]
-05/10 13:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.799, 0.783, -0.000)	[env.py: 1079]
-05/10 13:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.3 deg	[env.py: 1082]
-05/10 13:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
-05/10 13:07:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:07:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:07:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:07:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:07:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 13:07:53 INFO: [Worker 0] Worker 0 house 1 episode 203/240 collected=0/40	[pipeline.py: 1044]
-05/10 13:07:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.146s	[base_object_manipulation_planner_policy.py: 377]
-05/10 13:07:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 13:07:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 13:07:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 13:07:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.282s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 13:07:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.473[m] 85.443[deg]	[grasp_sample.py: 539]
-05/10 13:07:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 13:07:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 13:07:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:08:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:08:15 INFO: [Worker 0] Saved videos eagerly for episode 147 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
-05/10 13:08:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/10 13:08:15 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
-05/10 13:08:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:08:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:08:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:08:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:08:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:08:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:08:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/10 13:08:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/10 13:08:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/10 13:08:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 13:08:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 13:08:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
-05/10 13:08:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/10 13:08:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
-05/10 13:08:29 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.84s (batch: 4.56s, save: 9.28s)	[pipeline.py: 300]
-05/10 13:08:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.723s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 13:08:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.198[deg]	[grasp_sample.py: 539]
-05/10 13:08:30 INFO: [Worker 0] [PROFILE] Episode 203 house 1 success=True episode_total=0.49s:
-  episode_total: mean=215.82s, total=215.82s, count=1, min=215817.2ms, max=215817.2ms
-  sensor_polling: mean=583.0ms, total=163.83s, count=281, min=467.8ms, max=1168.0ms
-  save_trajectories: mean=9.28s, total=9.28s, count=1, min=9280.3ms, max=9280.3ms
-  physics_step: mean=30.4ms, total=8.55s, count=281, min=20.0ms, max=137.1ms
-  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4556.9ms, max=4556.9ms
-  task_sampling: mean=490.2ms, total=490.2ms, count=1, min=490.2ms, max=490.2ms
-  task_specific_sample: mean=486.0ms, total=486.0ms, count=1, min=486.0ms, max=486.0ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=491.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/10 13:08:30 ERROR: [Worker 0] Worker 0 house 1 episode 211 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/10 13:08:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 13:08:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 13:08:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 13:08:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:08:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:08:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 13:08:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 13:08:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 13:08:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043361m	[env.py: 870]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 13:08:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83364051  0.69457918 -0.04336108] yaw=-164.6deg	[env.py: 1019]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7358422   0.12769915 -0.04336108] yaw=154.2deg	[env.py: 1019]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02707502  0.77188443 -0.04336108] yaw=-167.5deg	[env.py: 1019]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 13:08:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.7ms, total=123.8ms	[env.py: 1075]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.834, 0.695, -0.043)	[env.py: 1079]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.6 deg	[env.py: 1082]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
-05/10 13:08:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:08:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:08:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 13:08:32 INFO: [Worker 0] Worker 0 house 1 episode 204/240 collected=0/40	[pipeline.py: 1044]
-05/10 13:08:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/10 13:08:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/10 13:08:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/10 13:08:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:08:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:08:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
-05/10 13:08:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
-05/10 13:08:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
-05/10 13:08:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040309m	[env.py: 870]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
-05/10 13:08:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.710153    0.87476296 -0.04030944] yaw=-147.9deg	[env.py: 1019]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:08:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s	[base_object_manipulation_planner_policy.py: 377]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:08:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 13:08:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78244994  0.59945976 -0.04030944] yaw=-172.5deg	[env.py: 1019]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/10 13:08:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.156s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7088615   0.05941043 -0.04030944] yaw=148.9deg	[env.py: 1019]
-05/10 13:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/10 13:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/10 13:08:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=263.0ms, total=263.0ms	[env.py: 1075]
-05/10 13:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.710, 0.875, -0.040)	[env.py: 1079]
-05/10 13:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.9 deg	[env.py: 1082]
-05/10 13:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
-05/10 13:08:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/10 13:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/10 13:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/10 13:08:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/10 13:08:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/10 13:08:33 INFO: [Worker 0] Worker 0 house 1 episode 212/240 collected=0/40	[pipeline.py: 1044]
-05/10 13:08:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/10 13:08:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
-05/10 13:08:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/10 13:08:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:08:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
-05/10 13:08:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.400s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 13:08:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.435[m] 86.037[deg]	[grasp_sample.py: 539]
-05/10 13:08:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 13:08:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 13:08:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/10 13:08:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.129s, found feasible grasp: True	[grasp_sample.py: 500]
-05/10 13:08:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.685[m] 95.627[deg]	[grasp_sample.py: 539]
-05/10 13:08:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/10 13:08:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/10 13:08:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]