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+++ b/fridge_7/episode_00000129_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf2e9377226b3d9185f955396fe249d00d08a57fe35b12e177fa58b0bebefdad
+size 405735
diff --git a/fridge_7/running_log.log b/fridge_7/running_log.log
index 8a64dcddff162623a954eead7da32e19ce89e502..8277a1b8e60b6023e1b3a2171aa11657fe22b34d 100644
--- a/fridge_7/running_log.log
+++ b/fridge_7/running_log.log
@@ -45030,3 +45030,5035 @@
 	[open_close_planner_policy.py: 225]
 05/10 10:25:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
 05/10 10:25:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:26:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:26:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:26:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:26:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.90s (batch: 5.52s, save: 12.38s)	[pipeline.py: 300]
+05/10 10:26:15 INFO: [Worker 0] [PROFILE] Episode 157 house 1 success=True episode_total=0.57s:
+  episode_total: mean=218.20s, total=218.20s, count=1, min=218202.0ms, max=218202.0ms
+  sensor_polling: mean=528.3ms, total=158.49s, count=300, min=451.8ms, max=928.2ms
+  save_trajectories: mean=12.38s, total=12.38s, count=1, min=12383.0ms, max=12383.0ms
+  physics_step: mean=26.1ms, total=7.84s, count=300, min=19.8ms, max=70.8ms
+  save_batch_prep: mean=5.52s, total=5.52s, count=1, min=5516.8ms, max=5516.8ms
+  task_sampling: mean=570.9ms, total=570.9ms, count=1, min=570.9ms, max=570.9ms
+  task_specific_sample: mean=566.0ms, total=566.0ms, count=1, min=566.0ms, max=566.0ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=639.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:26:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:26:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:26:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:26:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:26:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:26:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:26:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:26:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:26:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006307m	[env.py: 870]
+05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:26:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8907326   1.19734006  0.00630688] yaw=-146.4deg	[env.py: 1019]
+05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96472961  0.78895548  0.00630688] yaw=-160.6deg	[env.py: 1019]
+05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90369145  0.46443051  0.00630688] yaw=187.2deg	[env.py: 1019]
+05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:26:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.0ms, total=154.0ms	[env.py: 1075]
+05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.891, 1.197, 0.006)	[env.py: 1079]
+05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.4 deg	[env.py: 1082]
+05/10 10:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
+05/10 10:26:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:26:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:26:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:26:18 INFO: [Worker 0] Worker 0 house 1 episode 158/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:26:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:26:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:26:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:26:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:26:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:26:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.772s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:26:19 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.641[m] 76.306[deg]	[grasp_sample.py: 539]
+05/10 10:26:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:26:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:26:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:26:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:26:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:26:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:26:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:27:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:27:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:27:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:27:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:27:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:27:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:28:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:28:02 INFO: [Worker 0] Worker 0 house 1 episode 162 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:28:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:28:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:28:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:28:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:28:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:28:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:28:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:28:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:28:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:28:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:28:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:28:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:28:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.643s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:28:15 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.118[m] 2.836[deg]	[grasp_sample.py: 539]
+05/10 10:28:17 ERROR: [Worker 0] Worker 0 house 1 episode 158 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 10:28:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:28:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:28:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:28:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:28:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:28:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:28:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010769m	[env.py: 870]
+05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:28:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04949915  1.20321381 -0.01076916] yaw=-131.0deg	[env.py: 1019]
+05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8387548   1.12614464 -0.01076916] yaw=-141.9deg	[env.py: 1019]
+05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.690188    0.56613543 -0.01076916] yaw=-179.0deg	[env.py: 1019]
+05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:28:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.3ms, total=121.3ms	[env.py: 1075]
+05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.049, 1.203, -0.011)	[env.py: 1079]
+05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.0 deg	[env.py: 1082]
+05/10 10:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/10 10:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:28:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:28:19 INFO: [Worker 0] Worker 0 house 1 episode 159/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:28:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:28:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:28:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:28:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:28:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.840s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:28:22 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.597[m] 91.328[deg]	[grasp_sample.py: 539]
+05/10 10:28:24 ERROR: [Worker 0] Worker 0 house 1 episode 159 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 10:28:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:28:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:28:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:28:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:28:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:28:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:28:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:28:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:28:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024379m	[env.py: 870]
+05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:28:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07887086  0.81942456 -0.02437925] yaw=-161.1deg	[env.py: 1019]
+05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87773308  0.16098507 -0.02437925] yaw=154.2deg	[env.py: 1019]
+05/10 10:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.60695613  0.47775381 -0.02437925] yaw=180.3deg	[env.py: 1019]
+05/10 10:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:28:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.0ms, total=129.1ms	[env.py: 1075]
+05/10 10:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.079, 0.819, -0.024)	[env.py: 1079]
+05/10 10:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg	[env.py: 1082]
+05/10 10:28:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.709m	[env.py: 1086]
+05/10 10:28:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:28:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:28:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:28:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:28:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:28:26 INFO: [Worker 0] Worker 0 house 1 episode 160/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:28:26 INFO: [Worker 0] Saved videos eagerly for episode 106 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:28:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 10:28:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:28:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:28:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:28:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:28:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:28:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.468s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:28:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.326[m] 92.344[deg]	[grasp_sample.py: 539]
+05/10 10:28:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:28:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:28:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:28:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:28:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:28:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.68s (batch: 4.40s, save: 9.28s)	[pipeline.py: 300]
+05/10 10:28:40 INFO: [Worker 0] Worker 0 house 1 episode 152 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:28:40 INFO: [Worker 0] [PROFILE] Episode 162 house 1 success=True episode_total=0.46s:
+  episode_total: mean=221.17s, total=221.17s, count=1, min=221167.4ms, max=221167.4ms
+  sensor_polling: mean=560.4ms, total=168.11s, count=300, min=456.0ms, max=888.7ms
+  save_trajectories: mean=9.28s, total=9.28s, count=1, min=9275.2ms, max=9275.2ms
+  physics_step: mean=28.0ms, total=8.41s, count=300, min=18.5ms, max=133.1ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4404.5ms, max=4404.5ms
+  task_sampling: mean=463.4ms, total=463.4ms, count=1, min=463.4ms, max=463.4ms
+  task_specific_sample: mean=459.2ms, total=459.2ms, count=1, min=459.2ms, max=459.2ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=472.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:28:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:28:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:28:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:28:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:28:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:28:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:28:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:28:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:28:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:28:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:28:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029967m	[env.py: 870]
+05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:28:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76634496  0.72281247  0.02996681] yaw=-168.5deg	[env.py: 1019]
+05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.65991225  0.78499348  0.02996681] yaw=-167.0deg	[env.py: 1019]
+05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.80840308  0.01512579  0.02996681] yaw=145.2deg	[env.py: 1019]
+05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:28:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.9ms, total=205.0ms	[env.py: 1075]
+05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.766, 0.723, 0.030)	[env.py: 1079]
+05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.5 deg	[env.py: 1082]
+05/10 10:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
+05/10 10:28:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:28:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:28:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:28:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:28:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:28:43 INFO: [Worker 0] Worker 0 house 1 episode 163/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:28:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:28:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:28:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:28:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:28:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.545s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:28:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.537[m] 91.097[deg]	[grasp_sample.py: 539]
+05/10 10:28:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:28:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:28:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:28:56 INFO: [Worker 0] Worker 0 house 1 episode 152 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:29:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:29:09 INFO: [Worker 0] Saved videos eagerly for episode 112 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:29:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 10:29:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:29:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:29:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:29:24 INFO: [Worker 0] Saved videos eagerly for episode 116 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:29:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 10:29:24 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
+05/10 10:29:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:29:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:29:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.36s (batch: 4.85s, save: 10.52s)	[pipeline.py: 300]
+05/10 10:29:25 INFO: [Worker 0] [PROFILE] Episode 152 house 1 success=True episode_total=0.66s:
+  episode_total: mean=229.75s, total=229.75s, count=1, min=229746.7ms, max=229746.7ms
+  sensor_polling: mean=560.8ms, total=168.24s, count=300, min=443.5ms, max=935.8ms
+  save_trajectories: mean=10.52s, total=10.52s, count=1, min=10515.7ms, max=10515.7ms
+  physics_step: mean=28.0ms, total=8.40s, count=300, min=15.4ms, max=79.9ms
+  save_batch_prep: mean=4.85s, total=4.85s, count=1, min=4846.7ms, max=4846.7ms
+  task_sampling: mean=663.3ms, total=663.3ms, count=1, min=663.3ms, max=663.3ms
+  task_specific_sample: mean=658.6ms, total=658.6ms, count=1, min=658.6ms, max=658.6ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=641.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:29:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:29:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:29:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:29:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:29:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:29:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:29:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020534m	[env.py: 870]
+05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:29:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.62582231  0.34972626  0.0205343 ] yaw=171.8deg	[env.py: 1019]
+05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98834692  1.01022575  0.0205343 ] yaw=-146.2deg	[env.py: 1019]
+05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94920323  0.76380187  0.0205343 ] yaw=-156.6deg	[env.py: 1019]
+05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:29:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.9ms, total=173.0ms	[env.py: 1075]
+05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.626, 0.350, 0.021)	[env.py: 1079]
+05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.8 deg	[env.py: 1082]
+05/10 10:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
+05/10 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:29:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:29:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:29:27 INFO: [Worker 0] Worker 0 house 1 episode 153/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:29:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:29:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:29:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:29:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:29:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.884s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:29:29 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.635[m] 89.018[deg]	[grasp_sample.py: 539]
+05/10 10:29:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:29:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:29:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:29:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:29:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:29:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.22s (batch: 5.03s, save: 10.20s)	[pipeline.py: 300]
+05/10 10:29:40 INFO: [Worker 0] [PROFILE] Episode 152 house 1 success=True episode_total=0.49s:
+  episode_total: mean=223.58s, total=223.58s, count=1, min=223583.1ms, max=223583.1ms
+  sensor_polling: mean=558.8ms, total=165.40s, count=296, min=458.2ms, max=950.2ms
+  save_trajectories: mean=10.20s, total=10.20s, count=1, min=10195.3ms, max=10195.3ms
+  physics_step: mean=29.9ms, total=8.86s, count=296, min=19.9ms, max=103.9ms
+  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5026.3ms, max=5026.3ms
+  task_sampling: mean=488.1ms, total=488.1ms, count=1, min=488.1ms, max=488.1ms
+  task_specific_sample: mean=483.8ms, total=483.8ms, count=1, min=483.8ms, max=483.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=477.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:29:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:29:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:29:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:29:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:29:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:29:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:29:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:29:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:29:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006545m	[env.py: 870]
+05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:29:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8915572   0.47411228 -0.00654451] yaw=172.5deg	[env.py: 1019]
+05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87889138  0.29455887 -0.00654451] yaw=175.9deg	[env.py: 1019]
+05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68909041  0.30397928 -0.00654451] yaw=181.1deg	[env.py: 1019]
+05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:29:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.5ms, total=190.6ms	[env.py: 1075]
+05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.474, -0.007)	[env.py: 1079]
+05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.5 deg	[env.py: 1082]
+05/10 10:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/10 10:29:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:29:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:29:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:29:42 INFO: [Worker 0] Worker 0 house 1 episode 153/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:29:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:29:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:29:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:29:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:29:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.491s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:29:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.358[m] 89.140[deg]	[grasp_sample.py: 539]
+05/10 10:29:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:29:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:29:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:29:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:29:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:30:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:30:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:30:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:30:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:30:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:30:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:31:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:31:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:31:16 INFO: [Worker 0] Worker 0 house 1 episode 160 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:31:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:31:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:31:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:31:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:31:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:31:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:31:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:31:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:31:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:31:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:31:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:31:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:31:29 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.490s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:31:29 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.313[deg]	[grasp_sample.py: 539]
+05/10 10:31:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:31:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:31:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:31:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:31:37 INFO: [Worker 0] Worker 0 house 1 episode 163 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:31:40 INFO: [Worker 0] Saved videos eagerly for episode 117 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:31:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 10:31:40 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/10 10:31:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:31:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:31:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:31:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:31:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.61s (batch: 4.99s, save: 10.63s)	[pipeline.py: 300]
+05/10 10:31:56 INFO: [Worker 0] [PROFILE] Episode 160 house 1 success=True episode_total=1.32s:
+  episode_total: mean=111.80s, total=335.41s, count=3, min=4549.6ms, max=210927.8ms
+  sensor_polling: mean=556.4ms, total=254.26s, count=457, min=465.9ms, max=996.7ms
+  physics_step: mean=27.1ms, total=12.37s, count=457, min=16.8ms, max=125.7ms
+  save_trajectories: mean=10.63s, total=10.63s, count=1, min=10626.5ms, max=10626.5ms
+  save_batch_prep: mean=4.99s, total=4.99s, count=1, min=4985.7ms, max=4985.7ms
+  task_sampling: mean=440.6ms, total=1.32s, count=3, min=404.4ms, max=503.1ms
+  task_specific_sample: mean=436.3ms, total=1.31s, count=3, min=401.3ms, max=498.2ms
+  scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.3ms, max=3.3ms
+  mj_forward_sync: mean=506.5us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=16.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:31:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:31:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:31:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:31:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:31:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:31:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:31:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031599m	[env.py: 870]
+05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:31:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72370039  0.18239454  0.03159898] yaw=168.6deg	[env.py: 1019]
+05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02634324  0.1639165   0.03159898] yaw=160.9deg	[env.py: 1019]
+05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92164756  0.08849697  0.03159898] yaw=150.2deg	[env.py: 1019]
+05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:31:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.1ms, total=160.2ms	[env.py: 1075]
+05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.724, 0.182, 0.032)	[env.py: 1079]
+05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.6 deg	[env.py: 1082]
+05/10 10:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m	[env.py: 1086]
+05/10 10:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:31:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:31:59 INFO: [Worker 0] Worker 0 house 1 episode 161/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:31:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:31:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:31:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:31:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:32:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.102s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:32:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.582[m] 90.028[deg]	[grasp_sample.py: 539]
+05/10 10:32:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:32:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:32:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:32:03 INFO: [Worker 0] Saved videos eagerly for episode 107 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:32:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 10:32:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:32:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:32:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:32:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:32:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:32:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:32:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:32:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:32:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:32:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.75s (batch: 5.00s, save: 9.75s)	[pipeline.py: 300]
+05/10 10:32:18 INFO: [Worker 0] [PROFILE] Episode 163 house 1 success=True episode_total=0.56s:
+  episode_total: mean=216.18s, total=216.18s, count=1, min=216183.9ms, max=216183.9ms
+  sensor_polling: mean=539.9ms, total=161.98s, count=300, min=455.3ms, max=1045.8ms
+  save_trajectories: mean=9.75s, total=9.75s, count=1, min=9748.0ms, max=9748.0ms
+  physics_step: mean=26.1ms, total=7.84s, count=300, min=18.7ms, max=70.0ms
+  save_batch_prep: mean=5.00s, total=5.00s, count=1, min=5002.8ms, max=5002.8ms
+  task_sampling: mean=561.7ms, total=561.7ms, count=1, min=561.7ms, max=561.7ms
+  task_specific_sample: mean=556.9ms, total=556.9ms, count=1, min=556.9ms, max=556.9ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=602.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:32:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:32:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:32:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:32:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:32:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:32:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:32:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:32:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:32:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:32:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:32:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:32:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:32:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:32:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:32:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:32:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:32:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:32:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014002m	[env.py: 870]
+05/10 10:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:32:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87009236  0.48527953  0.01400217] yaw=-173.0deg	[env.py: 1019]
+05/10 10:32:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01116921  0.64930062  0.01400217] yaw=-175.0deg	[env.py: 1019]
+05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90509898  0.88218001  0.01400217] yaw=-146.1deg	[env.py: 1019]
+05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:32:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=359.1ms, total=359.1ms	[env.py: 1075]
+05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.485, 0.014)	[env.py: 1079]
+05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.0 deg	[env.py: 1082]
+05/10 10:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/10 10:32:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:32:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:32:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:32:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:32:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:32:21 INFO: [Worker 0] Worker 0 house 1 episode 164/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:32:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:32:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:32:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:32:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:32:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.540s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:32:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.366[m] 86.964[deg]	[grasp_sample.py: 539]
+05/10 10:32:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:32:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:32:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:32:26 INFO: [Worker 0] Feasibility-checked 76 grasps in 5.339s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:32:26 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.037[m] 10.359[deg]	[grasp_sample.py: 539]
+05/10 10:32:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:32:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:32:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:32:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:32:38 INFO: [Worker 0] Worker 0 house 1 episode 153 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:32:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:32:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:33:03 INFO: [Worker 0] Worker 0 house 1 episode 153 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 10:33:03 INFO: [Worker 0] [PROFILE] Episode 153 house 1 success=False episode_total=0.50s:
+  episode_total: mean=216.50s, total=216.50s, count=1, min=216499.3ms, max=216499.3ms
+  sensor_polling: mean=568.4ms, total=170.52s, count=300, min=454.1ms, max=1040.4ms
+  physics_step: mean=26.3ms, total=7.90s, count=300, min=15.4ms, max=134.0ms
+  task_sampling: mean=500.7ms, total=500.7ms, count=1, min=500.7ms, max=500.7ms
+  task_specific_sample: mean=496.1ms, total=496.1ms, count=1, min=496.1ms, max=496.1ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=575.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:33:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:33:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:33:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:33:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:33:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:33:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:33:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:33:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:33:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:33:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:33:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024115m	[env.py: 870]
+05/10 10:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:33:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72854957  0.90222906 -0.02411513] yaw=-157.4deg	[env.py: 1019]
+05/10 10:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7194303   0.65881242 -0.02411513] yaw=-161.6deg	[env.py: 1019]
+05/10 10:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99889534  1.03808561 -0.02411513] yaw=-137.4deg	[env.py: 1019]
+05/10 10:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:33:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=75.4ms, total=75.5ms	[env.py: 1075]
+05/10 10:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.729, 0.902, -0.024)	[env.py: 1079]
+05/10 10:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.4 deg	[env.py: 1082]
+05/10 10:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m	[env.py: 1086]
+05/10 10:33:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:33:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:33:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:33:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:33:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:33:06 INFO: [Worker 0] Worker 0 house 1 episode 154/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:33:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:33:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:33:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:33:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:33:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:33:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.834s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:33:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.601[m] 82.419[deg]	[grasp_sample.py: 539]
+05/10 10:33:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:33:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:33:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:33:09 INFO: [Worker 0] Saved videos eagerly for episode 117 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:33:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 10:33:09 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/10 10:33:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:33:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:33:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:33:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:33:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:33:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:33:26 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.18s (batch: 5.21s, save: 11.97s)	[pipeline.py: 300]
+05/10 10:33:26 INFO: [Worker 0] [PROFILE] Episode 153 house 1 success=True episode_total=0.52s:
+  episode_total: mean=224.90s, total=224.90s, count=1, min=224899.4ms, max=224899.4ms
+  sensor_polling: mean=556.8ms, total=162.60s, count=292, min=467.2ms, max=946.6ms
+  save_trajectories: mean=11.97s, total=11.97s, count=1, min=11974.0ms, max=11974.0ms
+  physics_step: mean=29.8ms, total=8.69s, count=292, min=19.5ms, max=123.1ms
+  save_batch_prep: mean=5.21s, total=5.21s, count=1, min=5210.1ms, max=5210.1ms
+  task_sampling: mean=524.9ms, total=524.9ms, count=1, min=524.9ms, max=524.9ms
+  task_specific_sample: mean=520.9ms, total=520.9ms, count=1, min=520.9ms, max=520.9ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=431.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:33:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:33:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:33:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:33:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:33:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:33:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:33:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:33:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:33:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005479m	[env.py: 870]
+05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:33:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94389175  0.19196356 -0.00547917] yaw=159.9deg	[env.py: 1019]
+05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95527989  0.47714563 -0.00547917] yaw=184.0deg	[env.py: 1019]
+05/10 10:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.65333047  0.23436948 -0.00547917] yaw=177.2deg	[env.py: 1019]
+05/10 10:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:33:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.8ms, total=217.9ms	[env.py: 1075]
+05/10 10:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.192, -0.005)	[env.py: 1079]
+05/10 10:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.9 deg	[env.py: 1082]
+05/10 10:33:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m	[env.py: 1086]
+05/10 10:33:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:33:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:33:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:33:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:33:29 INFO: [Worker 0] Worker 0 house 1 episode 154/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:33:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:33:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:33:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:33:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:33:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:33:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:33:30 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.385[m] 91.154[deg]	[grasp_sample.py: 539]
+05/10 10:33:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:33:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:33:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:34:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:34:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:34:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:34:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:34:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:34:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:35:05 INFO: [Worker 0] Worker 0 house 1 episode 161 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:35:20 INFO: [Worker 0] Worker 0 house 1 episode 164 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:35:29 INFO: [Worker 0] Saved videos eagerly for episode 118 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:35:29 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 10:35:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:35:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:35:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:35:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:35:43 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.76s (batch: 4.66s, save: 9.09s)	[pipeline.py: 300]
+05/10 10:35:43 INFO: [Worker 0] Saved videos eagerly for episode 108 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:35:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 10:35:43 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
+05/10 10:35:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:35:43 INFO: [Worker 0] [PROFILE] Episode 161 house 1 success=True episode_total=0.47s:
+  episode_total: mean=225.23s, total=225.23s, count=1, min=225225.6ms, max=225225.6ms
+  sensor_polling: mean=564.0ms, total=169.21s, count=300, min=472.5ms, max=1043.6ms
+  save_trajectories: mean=9.09s, total=9.09s, count=1, min=9093.4ms, max=9093.4ms
+  physics_step: mean=30.2ms, total=9.07s, count=300, min=15.5ms, max=135.3ms
+  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4662.3ms, max=4662.3ms
+  task_sampling: mean=465.4ms, total=465.4ms, count=1, min=465.4ms, max=465.4ms
+  task_specific_sample: mean=460.4ms, total=460.4ms, count=1, min=460.4ms, max=460.4ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=614.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:35:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:35:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:35:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:35:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:35:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:35:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:35:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:35:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:35:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:35:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003531m	[env.py: 870]
+05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:35:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.14354374  1.15530204  0.00353141] yaw=-134.3deg	[env.py: 1019]
+05/10 10:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:35:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=318.8ms, total=318.8ms	[env.py: 1075]
+05/10 10:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.144, 1.155, 0.004)	[env.py: 1079]
+05/10 10:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.3 deg	[env.py: 1082]
+05/10 10:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
+05/10 10:35:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:35:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:35:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:35:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:35:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:35:46 INFO: [Worker 0] Worker 0 house 1 episode 162/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:35:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:35:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:35:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:35:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:35:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.687s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:35:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.480[m] 96.004[deg]	[grasp_sample.py: 539]
+05/10 10:35:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:35:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:35:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:35:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:35:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:35:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:35:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:35:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:35:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:35:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:35:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:35:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:35:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:35:59 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.622s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:35:59 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.200[deg]	[grasp_sample.py: 539]
+05/10 10:35:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:36:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:36:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:36:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:36:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:36:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.17s (batch: 4.75s, save: 12.42s)	[pipeline.py: 300]
+05/10 10:36:00 INFO: [Worker 0] Worker 0 house 1 episode 154 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:36:01 INFO: [Worker 0] [PROFILE] Episode 164 house 1 success=True episode_total=0.69s:
+  episode_total: mean=220.67s, total=220.67s, count=1, min=220668.9ms, max=220668.9ms
+  sensor_polling: mean=563.3ms, total=166.17s, count=295, min=464.8ms, max=1082.4ms
+  save_trajectories: mean=12.42s, total=12.42s, count=1, min=12421.0ms, max=12421.0ms
+  physics_step: mean=26.8ms, total=7.90s, count=295, min=16.0ms, max=98.9ms
+  save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4747.8ms, max=4747.8ms
+  task_sampling: mean=689.6ms, total=689.6ms, count=1, min=689.6ms, max=689.6ms
+  task_specific_sample: mean=685.0ms, total=685.0ms, count=1, min=685.0ms, max=685.0ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=549.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:36:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:36:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:36:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:36:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:36:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:36:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:36:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002045m	[env.py: 870]
+05/10 10:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:36:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83191021  0.44924447 -0.00204528] yaw=168.0deg	[env.py: 1019]
+05/10 10:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.22135335  1.07422114 -0.00204528] yaw=-137.0deg	[env.py: 1019]
+05/10 10:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:36:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=584.2ms, total=584.3ms	[env.py: 1075]
+05/10 10:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.832, 0.449, -0.002)	[env.py: 1079]
+05/10 10:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.0 deg	[env.py: 1082]
+05/10 10:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/10 10:36:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:36:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:36:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:36:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:36:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:36:04 INFO: [Worker 0] Worker 0 house 1 episode 165/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:36:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:36:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:36:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:36:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:36:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.697s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:36:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.429[m] 87.566[deg]	[grasp_sample.py: 539]
+05/10 10:36:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:36:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:36:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:36:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:36:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:36:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:36:32 INFO: [Worker 0] Saved videos eagerly for episode 113 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:36:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 10:36:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:36:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:36:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:36:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:36:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:36:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:36:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:36:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:36:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:36:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.59s (batch: 5.34s, save: 11.25s)	[pipeline.py: 300]
+05/10 10:36:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:36:50 INFO: [Worker 0] [PROFILE] Episode 154 house 1 success=True episode_total=0.40s:
+  episode_total: mean=224.33s, total=224.33s, count=1, min=224327.6ms, max=224327.6ms
+  sensor_polling: mean=536.8ms, total=161.05s, count=300, min=461.5ms, max=1210.4ms
+  save_trajectories: mean=11.25s, total=11.25s, count=1, min=11251.1ms, max=11251.1ms
+  physics_step: mean=25.7ms, total=7.71s, count=300, min=18.4ms, max=161.0ms
+  save_batch_prep: mean=5.34s, total=5.34s, count=1, min=5338.0ms, max=5338.0ms
+  task_sampling: mean=403.2ms, total=403.2ms, count=1, min=403.2ms, max=403.2ms
+  task_specific_sample: mean=399.9ms, total=399.9ms, count=1, min=399.9ms, max=399.9ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=406.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:36:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:36:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:36:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:36:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:36:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:36:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:36:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:36:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036894m	[env.py: 870]
+05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:36:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81319067  0.84279271 -0.03689426] yaw=-158.3deg	[env.py: 1019]
+05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72178746  0.28586882 -0.03689426] yaw=157.9deg	[env.py: 1019]
+05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73861035  0.1477416  -0.03689426] yaw=151.0deg	[env.py: 1019]
+05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:36:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.7ms, total=207.7ms	[env.py: 1075]
+05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.813, 0.843, -0.037)	[env.py: 1079]
+05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.3 deg	[env.py: 1082]
+05/10 10:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m	[env.py: 1086]
+05/10 10:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:36:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:36:52 INFO: [Worker 0] Worker 0 house 1 episode 155/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:36:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:36:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:36:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:36:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:36:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.683s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:36:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.532[m] 91.385[deg]	[grasp_sample.py: 539]
+05/10 10:36:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:36:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:36:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:36:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:36:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:36:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:36:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.107s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:36:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:36:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:36:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:36:56 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.802s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:36:56 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.814[deg]	[grasp_sample.py: 539]
+05/10 10:36:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:36:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:36:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:36:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:36:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:37:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:37:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:37:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:37:16 INFO: [Worker 0] Worker 0 house 1 episode 154 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:37:46 INFO: [Worker 0] Saved videos eagerly for episode 118 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:37:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 10:37:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:37:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:37:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:37:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:37:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.85s (batch: 4.70s, save: 9.14s)	[pipeline.py: 300]
+05/10 10:38:00 INFO: [Worker 0] [PROFILE] Episode 154 house 1 success=True episode_total=0.55s:
+  episode_total: mean=271.89s, total=271.89s, count=1, min=271891.3ms, max=271891.3ms
+  sensor_polling: mean=557.6ms, total=167.28s, count=300, min=472.0ms, max=989.8ms
+  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9144.2ms, max=9144.2ms
+  physics_step: mean=26.1ms, total=7.82s, count=300, min=16.2ms, max=119.6ms
+  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4701.9ms, max=4701.9ms
+  task_sampling: mean=550.9ms, total=550.9ms, count=1, min=550.9ms, max=550.9ms
+  task_specific_sample: mean=546.4ms, total=546.4ms, count=1, min=546.4ms, max=546.4ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=576.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:38:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:38:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:38:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:38:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:38:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:38:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:38:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:38:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:38:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032536m	[env.py: 870]
+05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:38:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84800495  0.79434042  0.03253581] yaw=-165.5deg	[env.py: 1019]
+05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75472482  0.37271118  0.03253581] yaw=163.6deg	[env.py: 1019]
+05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82936852  0.183176    0.03253581] yaw=159.6deg	[env.py: 1019]
+05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:38:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.8ms, total=192.9ms	[env.py: 1075]
+05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.794, 0.033)	[env.py: 1079]
+05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.5 deg	[env.py: 1082]
+05/10 10:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
+05/10 10:38:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:38:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:38:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:38:02 INFO: [Worker 0] Worker 0 house 1 episode 155/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:38:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:38:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:38:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:38:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:38:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.614s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:38:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.429[m] 80.904[deg]	[grasp_sample.py: 539]
+05/10 10:38:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:38:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:38:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:38:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:38:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:38:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:38:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:38:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:38:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:38:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:38:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:38:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:38:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:38:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:38:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:38:22 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.624s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:38:22 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.095[m] 3.785[deg]	[grasp_sample.py: 539]
+05/10 10:38:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:38:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:38:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:38:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:38:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:38:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:38:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:38:57 INFO: [Worker 0] Worker 0 house 1 episode 162 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:39:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:39:04 INFO: [Worker 0] Worker 0 house 1 episode 165 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:39:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:39:26 INFO: [Worker 0] Saved videos eagerly for episode 119 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:39:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 10:39:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:39:32 INFO: [Worker 0] Saved videos eagerly for episode 109 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:39:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 10:39:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:39:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:39:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:39:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.39s (batch: 4.38s, save: 9.02s)	[pipeline.py: 300]
+05/10 10:39:40 INFO: [Worker 0] [PROFILE] Episode 162 house 1 success=True episode_total=0.66s:
+  episode_total: mean=234.49s, total=234.49s, count=1, min=234489.1ms, max=234489.1ms
+  sensor_polling: mean=548.4ms, total=164.51s, count=300, min=461.4ms, max=989.7ms
+  save_trajectories: mean=9.02s, total=9.02s, count=1, min=9016.6ms, max=9016.6ms
+  physics_step: mean=27.7ms, total=8.32s, count=300, min=18.8ms, max=113.5ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4376.1ms, max=4376.1ms
+  task_sampling: mean=657.1ms, total=657.1ms, count=1, min=657.1ms, max=657.1ms
+  task_specific_sample: mean=652.6ms, total=652.6ms, count=1, min=652.6ms, max=652.6ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=534.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:39:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:39:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:39:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:39:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:39:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:39:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:39:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:39:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:39:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045616m	[env.py: 870]
+05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:39:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.21243244  1.02235223  0.04561607] yaw=-139.3deg	[env.py: 1019]
+05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9857364   0.47652118  0.04561607] yaw=174.9deg	[env.py: 1019]
+05/10 10:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.13003678  1.09938562  0.04561607] yaw=-138.2deg	[env.py: 1019]
+05/10 10:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:39:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=182.7ms, total=182.7ms	[env.py: 1075]
+05/10 10:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.212, 1.022, 0.046)	[env.py: 1079]
+05/10 10:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.3 deg	[env.py: 1082]
+05/10 10:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.729m	[env.py: 1086]
+05/10 10:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:39:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:39:42 INFO: [Worker 0] Worker 0 house 1 episode 163/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:39:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:39:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:39:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:39:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:39:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.531s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:39:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.306[m] 81.801[deg]	[grasp_sample.py: 539]
+05/10 10:39:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:39:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:39:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:39:46 INFO: [Worker 0] Worker 0 house 1 episode 155 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:39:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:39:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:39:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.78s (batch: 4.30s, save: 9.48s)	[pipeline.py: 300]
+05/10 10:39:47 INFO: [Worker 0] [PROFILE] Episode 165 house 1 success=True episode_total=0.95s:
+  episode_total: mean=223.79s, total=223.79s, count=1, min=223785.7ms, max=223785.7ms
+  sensor_polling: mean=547.4ms, total=164.22s, count=300, min=455.2ms, max=957.4ms
+  save_trajectories: mean=9.48s, total=9.48s, count=1, min=9481.7ms, max=9481.7ms
+  physics_step: mean=29.0ms, total=8.70s, count=300, min=18.6ms, max=113.1ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4298.5ms, max=4298.5ms
+  task_sampling: mean=952.8ms, total=952.8ms, count=1, min=952.8ms, max=952.8ms
+  task_specific_sample: mean=940.8ms, total=940.8ms, count=1, min=940.8ms, max=940.8ms
+  scene_randomize: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms
+  mj_forward_sync: mean=779.9us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
+  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:39:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:39:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:39:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:39:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:39:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:39:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:39:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:39:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:39:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005081m	[env.py: 870]
+05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:39:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 126.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88685486  1.10436118  0.00508126] yaw=-146.0deg	[env.py: 1019]
+05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.99585375  0.42656245  0.00508126] yaw=176.8deg	[env.py: 1019]
+05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:39:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=282.2ms, total=282.3ms	[env.py: 1075]
+05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.887, 1.104, 0.005)	[env.py: 1079]
+05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.0 deg	[env.py: 1082]
+05/10 10:39:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/10 10:39:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:39:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:39:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:39:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:39:49 INFO: [Worker 0] Worker 0 house 1 episode 166/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:39:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:39:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:39:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:39:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.156s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:39:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.156s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:39:55 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.612[m] 91.166[deg]	[grasp_sample.py: 539]
+05/10 10:39:56 ERROR: [Worker 0] Worker 0 house 1 episode 166 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 10:39:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:39:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:39:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:39:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:39:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:39:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:39:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:39:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:39:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046426m	[env.py: 870]
+05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:39:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90207877  0.22552062  0.04642603] yaw=164.7deg	[env.py: 1019]
+05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93424826  0.87252624  0.04642603] yaw=-148.9deg	[env.py: 1019]
+05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92320495  0.95230253  0.04642603] yaw=-153.9deg	[env.py: 1019]
+05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:39:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.0ms, total=213.0ms	[env.py: 1075]
+05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.902, 0.226, 0.046)	[env.py: 1079]
+05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.7 deg	[env.py: 1082]
+05/10 10:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/10 10:39:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:39:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:39:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:39:58 INFO: [Worker 0] Worker 0 house 1 episode 167/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:39:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:39:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:39:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:39:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:39:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.546s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:39:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.396[m] 93.281[deg]	[grasp_sample.py: 539]
+05/10 10:39:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:39:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:39:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:40:13 INFO: [Worker 0] Saved videos eagerly for episode 114 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:40:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 10:40:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:40:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:40:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:40:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:40:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:40:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.78s (batch: 4.70s, save: 11.08s)	[pipeline.py: 300]
+05/10 10:40:29 INFO: [Worker 0] [PROFILE] Episode 155 house 1 success=True episode_total=0.53s:
+  episode_total: mean=217.51s, total=217.51s, count=1, min=217513.1ms, max=217513.1ms
+  sensor_polling: mean=535.0ms, total=160.51s, count=300, min=447.4ms, max=1019.5ms
+  save_trajectories: mean=11.08s, total=11.08s, count=1, min=11078.5ms, max=11078.5ms
+  physics_step: mean=26.2ms, total=7.87s, count=300, min=15.4ms, max=130.8ms
+  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4704.7ms, max=4704.7ms
+  task_sampling: mean=526.1ms, total=526.1ms, count=1, min=526.1ms, max=526.1ms
+  task_specific_sample: mean=522.1ms, total=522.1ms, count=1, min=522.1ms, max=522.1ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=530.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:40:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:40:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:40:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:40:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:40:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:40:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:40:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:40:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:40:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:40:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:40:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018894m	[env.py: 870]
+05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:40:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.010363    1.20606765  0.01889407] yaw=-131.3deg	[env.py: 1019]
+05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69957562  0.17794481  0.01889407] yaw=174.1deg	[env.py: 1019]
+05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.94226218  0.60872678  0.01889407] yaw=-179.4deg	[env.py: 1019]
+05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:40:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=453.9ms, total=453.9ms	[env.py: 1075]
+05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.010, 1.206, 0.019)	[env.py: 1079]
+05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.3 deg	[env.py: 1082]
+05/10 10:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/10 10:40:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:40:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:40:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:40:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:40:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:40:32 INFO: [Worker 0] Worker 0 house 1 episode 156/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:40:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:40:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:40:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:40:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:40:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:40:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.820s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:40:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.616[m] 99.952[deg]	[grasp_sample.py: 539]
+05/10 10:40:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:40:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:40:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:40:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:40:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:40:58 INFO: [Worker 0] Worker 0 house 1 episode 155 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:41:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:41:21 INFO: [Worker 0] Saved videos eagerly for episode 119 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:41:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 10:41:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:41:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:41:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:41:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.47s (batch: 5.64s, save: 10.83s)	[pipeline.py: 300]
+05/10 10:41:39 INFO: [Worker 0] [PROFILE] Episode 155 house 1 success=True episode_total=0.54s:
+  episode_total: mean=216.84s, total=216.84s, count=1, min=216837.2ms, max=216837.2ms
+  sensor_polling: mean=543.3ms, total=163.00s, count=300, min=452.3ms, max=1078.7ms
+  save_trajectories: mean=10.83s, total=10.83s, count=1, min=10831.6ms, max=10831.6ms
+  physics_step: mean=26.5ms, total=7.96s, count=300, min=17.1ms, max=84.7ms
+  save_batch_prep: mean=5.64s, total=5.64s, count=1, min=5637.0ms, max=5637.0ms
+  task_sampling: mean=536.4ms, total=536.4ms, count=1, min=536.4ms, max=536.4ms
+  task_specific_sample: mean=532.5ms, total=532.5ms, count=1, min=532.5ms, max=532.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=456.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:41:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:41:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:41:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:41:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:41:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:41:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:41:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:41:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:41:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025085m	[env.py: 870]
+05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:41:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87961824  0.58046689  0.0250853 ] yaw=-167.8deg	[env.py: 1019]
+05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8293085   0.16446125  0.0250853 ] yaw=165.2deg	[env.py: 1019]
+05/10 10:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98635253  0.84167429  0.0250853 ] yaw=-162.9deg	[env.py: 1019]
+05/10 10:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:41:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=227.8ms, total=227.9ms	[env.py: 1075]
+05/10 10:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.880, 0.580, 0.025)	[env.py: 1079]
+05/10 10:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg	[env.py: 1082]
+05/10 10:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m	[env.py: 1086]
+05/10 10:41:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:41:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:41:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:41:41 INFO: [Worker 0] Worker 0 house 1 episode 156/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:41:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:41:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:41:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:41:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:41:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.664s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:41:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.397[m] 83.538[deg]	[grasp_sample.py: 539]
+05/10 10:41:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:41:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:41:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:41:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:41:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:41:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:41:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:41:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:42:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:42:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:42:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:42:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:42:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:42:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:12 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.596s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:42:12 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.823[deg]	[grasp_sample.py: 539]
+05/10 10:42:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:42:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:42:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:42:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:42:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:42:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:42:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:42:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:42:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:23 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.751s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:42:23 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.334[deg]	[grasp_sample.py: 539]
+05/10 10:42:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:24 ERROR: [Worker 0] Worker 0 house 1 episode 163 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 10:42:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:42:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:42:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:42:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:42:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:42:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:42:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:42:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:42:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008621m	[env.py: 870]
+05/10 10:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:42:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65158036  0.38013838 -0.00862135] yaw=185.0deg	[env.py: 1019]
+05/10 10:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66283855  0.16520849 -0.00862135] yaw=172.8deg	[env.py: 1019]
+05/10 10:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90907274  0.06923052 -0.00862135] yaw=163.7deg	[env.py: 1019]
+05/10 10:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:42:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=304.9ms, total=305.0ms	[env.py: 1075]
+05/10 10:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.380, -0.009)	[env.py: 1079]
+05/10 10:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.0 deg	[env.py: 1082]
+05/10 10:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
+05/10 10:42:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:42:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:42:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:42:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:42:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:42:27 INFO: [Worker 0] Worker 0 house 1 episode 164/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:42:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:42:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:42:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:42:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:42:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.682s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:42:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.588[m] 78.541[deg]	[grasp_sample.py: 539]
+05/10 10:42:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:42:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:42:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:42:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:42:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:42:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:42:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:42:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:42:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:42:30 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.677s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:42:30 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.772[deg]	[grasp_sample.py: 539]
+05/10 10:42:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:42:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:42:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:42:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:42:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:42:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:42:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:42:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:42:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:42:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:42:55 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.638s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:42:55 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.772[deg]	[grasp_sample.py: 539]
+05/10 10:42:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:42:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:42:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:42:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:43:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:43:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:43:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:43:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:43:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:43:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:43:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:43:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:43:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:43:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:43:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:43:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:43:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:43:11 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/10 10:43:12 INFO: [Worker 0] Worker 0 house 1 episode 167 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 10:43:12 INFO: [Worker 0] [PROFILE] Episode 167 house 1 success=False episode_total=1.13s:
+  episode_total: mean=100.74s, total=201.49s, count=2, min=7159.7ms, max=194327.0ms
+  sensor_polling: mean=552.1ms, total=124.78s, count=226, min=465.4ms, max=995.9ms
+  physics_step: mean=26.7ms, total=6.03s, count=226, min=14.1ms, max=66.8ms
+  task_sampling: mean=563.5ms, total=1.13s, count=2, min=510.3ms, max=616.8ms
+  task_specific_sample: mean=559.7ms, total=1.12s, count=2, min=507.2ms, max=612.2ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.2ms, max=3.1ms
+  mj_forward_sync: mean=492.5us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:43:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:43:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:43:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:43:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:43:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:43:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.122s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:43:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:43:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:43:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:43:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:43:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:43:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:43:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:43:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:43:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:43:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:43:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016654m	[env.py: 870]
+05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:43:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.15530215  1.02709316  0.01665376] yaw=-143.4deg	[env.py: 1019]
+05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78593178  0.38577454  0.01665376] yaw=166.9deg	[env.py: 1019]
+05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77951853  0.72123784  0.01665376] yaw=-160.3deg	[env.py: 1019]
+05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:43:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=308.0ms, total=308.0ms	[env.py: 1075]
+05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.155, 1.027, 0.017)	[env.py: 1079]
+05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.4 deg	[env.py: 1082]
+05/10 10:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.772m	[env.py: 1086]
+05/10 10:43:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:43:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:43:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:43:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:43:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:43:15 INFO: [Worker 0] Worker 0 house 1 episode 168/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:43:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:43:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:43:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:43:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:43:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.275s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:43:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.374[m] 83.674[deg]	[grasp_sample.py: 539]
+05/10 10:43:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:43:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:43:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:43:17 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.789s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:43:17 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.230[deg]	[grasp_sample.py: 539]
+05/10 10:43:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:43:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:43:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:43:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:43:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:43:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:43:47 INFO: [Worker 0] Worker 0 house 1 episode 156 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 10:43:47 INFO: [Worker 0] [PROFILE] Episode 156 house 1 success=False episode_total=0.78s:
+  episode_total: mean=196.09s, total=196.09s, count=1, min=196086.7ms, max=196086.7ms
+  sensor_polling: mean=549.4ms, total=164.83s, count=300, min=454.0ms, max=1091.9ms
+  physics_step: mean=27.3ms, total=8.18s, count=300, min=15.6ms, max=113.6ms
+  task_sampling: mean=777.2ms, total=777.2ms, count=1, min=777.2ms, max=777.2ms
+  task_specific_sample: mean=773.3ms, total=773.3ms, count=1, min=773.3ms, max=773.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=453.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:43:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:43:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:43:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:43:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:43:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:43:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:43:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:43:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:43:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:43:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:43:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011902m	[env.py: 870]
+05/10 10:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:43:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77640196  0.34720272  0.01190153] yaw=171.7deg	[env.py: 1019]
+05/10 10:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:43:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91359465  0.74387399  0.01190153] yaw=-172.5deg	[env.py: 1019]
+05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88001519  1.13594068  0.01190153] yaw=-139.3deg	[env.py: 1019]
+05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:43:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=483.7ms, total=483.7ms	[env.py: 1075]
+05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.776, 0.347, 0.012)	[env.py: 1079]
+05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.7 deg	[env.py: 1082]
+05/10 10:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
+05/10 10:43:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:43:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:43:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:43:50 INFO: [Worker 0] Worker 0 house 1 episode 157/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:43:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.150s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:43:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:43:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:43:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:43:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:43:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.853s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:43:51 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.469[m] 82.256[deg]	[grasp_sample.py: 539]
+05/10 10:43:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:43:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:43:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:43:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:43:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:44:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:44:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:44:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:44:50 INFO: [Worker 0] Worker 0 house 1 episode 156 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:44:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:45:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:45:15 INFO: [Worker 0] Saved videos eagerly for episode 120 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:45:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 10:45:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:45:29 INFO: [Worker 0] Worker 0 house 1 episode 164 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:45:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:45:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:45:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.32s (batch: 4.99s, save: 10.33s)	[pipeline.py: 300]
+05/10 10:45:31 INFO: [Worker 0] [PROFILE] Episode 156 house 1 success=True episode_total=0.53s:
+  episode_total: mean=230.84s, total=230.84s, count=1, min=230841.0ms, max=230841.0ms
+  sensor_polling: mean=581.4ms, total=174.43s, count=300, min=478.7ms, max=1139.5ms
+  save_trajectories: mean=10.33s, total=10.33s, count=1, min=10333.8ms, max=10333.8ms
+  physics_step: mean=29.6ms, total=8.87s, count=300, min=19.6ms, max=129.3ms
+  save_batch_prep: mean=4.99s, total=4.99s, count=1, min=4990.5ms, max=4990.5ms
+  task_sampling: mean=534.6ms, total=534.6ms, count=1, min=534.6ms, max=534.6ms
+  task_specific_sample: mean=530.4ms, total=530.4ms, count=1, min=530.4ms, max=530.4ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=522.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:45:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:45:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:45:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:45:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:45:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:45:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:45:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:45:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:45:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:45:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:45:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037775m	[env.py: 870]
+05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:45:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90471561  0.81601574  0.03777493] yaw=-165.3deg	[env.py: 1019]
+05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7171388   0.02775883  0.03777493] yaw=158.0deg	[env.py: 1019]
+05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7401248   0.3467121   0.03777493] yaw=173.9deg	[env.py: 1019]
+05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:45:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.1ms, total=167.1ms	[env.py: 1075]
+05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.905, 0.816, 0.038)	[env.py: 1079]
+05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.3 deg	[env.py: 1082]
+05/10 10:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/10 10:45:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:45:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:45:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:45:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:45:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:45:34 INFO: [Worker 0] Worker 0 house 1 episode 157/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:45:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:45:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:45:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:45:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:45:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.928s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:45:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.457[m] 90.196[deg]	[grasp_sample.py: 539]
+05/10 10:45:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:45:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:45:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:45:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:45:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:45:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:45:59 INFO: [Worker 0] Saved videos eagerly for episode 120 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:45:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 10:45:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:46:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:46:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:46:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:46:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:46:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:46:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:46:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:46:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:46:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.775s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:46:05 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.287[deg]	[grasp_sample.py: 539]
+05/10 10:46:06 ERROR: [Worker 0] Worker 0 house 1 episode 168 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 10:46:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:46:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:46:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:46:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:46:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:46:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:46:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.010m, effective arm-mount z=0.850m (base_body_z=-0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010001m	[env.py: 870]
+05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:46:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.0968081   0.93466475 -0.01000118] yaw=-147.1deg	[env.py: 1019]
+05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:46:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.0ms, total=219.0ms	[env.py: 1075]
+05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.097, 0.935, -0.010)	[env.py: 1079]
+05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.1 deg	[env.py: 1082]
+05/10 10:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
+05/10 10:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:46:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:46:08 INFO: [Worker 0] Worker 0 house 1 episode 169/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:46:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:46:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:46:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:46:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:46:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.616s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:46:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.356[m] 90.275[deg]	[grasp_sample.py: 539]
+05/10 10:46:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:46:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:46:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:46:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:46:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:46:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.43s (batch: 4.91s, save: 9.52s)	[pipeline.py: 300]
+05/10 10:46:14 INFO: [Worker 0] [PROFILE] Episode 164 house 1 success=True episode_total=1.14s:
+  episode_total: mean=195.51s, total=391.03s, count=2, min=162995.0ms, max=228030.4ms
+  sensor_polling: mean=553.5ms, total=303.88s, count=549, min=455.8ms, max=1179.2ms
+  physics_step: mean=28.3ms, total=15.55s, count=549, min=17.0ms, max=115.7ms
+  save_trajectories: mean=9.52s, total=9.52s, count=1, min=9520.0ms, max=9520.0ms
+  save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4908.2ms, max=4908.2ms
+  task_sampling: mean=571.5ms, total=1.14s, count=2, min=486.9ms, max=656.2ms
+  task_specific_sample: mean=567.4ms, total=1.13s, count=2, min=482.9ms, max=651.9ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.9ms, max=2.5ms
+  mj_forward_sync: mean=597.0us, total=1.2ms, count=2, min=0.4ms, max=0.8ms
+  policy_setup: mean=19.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:46:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:46:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:46:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:46:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:46:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:46:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:46:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:46:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:46:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:46:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:46:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014141m	[env.py: 870]
+05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:46:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00244044  0.41617458 -0.01414091] yaw=165.4deg	[env.py: 1019]
+05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92021158  0.8763346  -0.01414091] yaw=-145.6deg	[env.py: 1019]
+05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76135564  0.99299037 -0.01414091] yaw=-161.7deg	[env.py: 1019]
+05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:46:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=129.1ms, total=129.2ms	[env.py: 1075]
+05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.002, 0.416, -0.014)	[env.py: 1079]
+05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg	[env.py: 1082]
+05/10 10:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.703m	[env.py: 1086]
+05/10 10:46:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:46:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:46:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:46:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:46:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:46:17 INFO: [Worker 0] Worker 0 house 1 episode 165/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:46:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.149s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:46:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:46:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:46:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:46:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.197s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:46:18 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.277[m] 92.330[deg]	[grasp_sample.py: 539]
+05/10 10:46:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:46:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:46:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:46:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:46:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:46:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:46:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:46:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:47:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:47:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:47:06 INFO: [Worker 0] Worker 0 house 1 episode 157 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:47:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:47:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:47:37 INFO: [Worker 0] Saved videos eagerly for episode 115 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:47:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 10:47:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:47:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:47:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:47:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:47:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:47:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:47:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:47:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:47:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.75s (batch: 4.65s, save: 9.11s)	[pipeline.py: 300]
+05/10 10:47:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:47:52 INFO: [Worker 0] [PROFILE] Episode 157 house 1 success=True episode_total=0.82s:
+  episode_total: mean=242.74s, total=242.74s, count=1, min=242744.8ms, max=242744.8ms
+  sensor_polling: mean=563.1ms, total=168.94s, count=300, min=473.9ms, max=1218.3ms
+  save_trajectories: mean=9.11s, total=9.11s, count=1, min=9105.8ms, max=9105.8ms
+  physics_step: mean=27.0ms, total=8.09s, count=300, min=19.0ms, max=94.1ms
+  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4646.7ms, max=4646.7ms
+  task_sampling: mean=816.6ms, total=816.6ms, count=1, min=816.6ms, max=816.6ms
+  task_specific_sample: mean=812.6ms, total=812.6ms, count=1, min=812.6ms, max=812.6ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=551.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:47:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:47:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:47:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:47:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:47:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:47:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:47:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:47:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013870m	[env.py: 870]
+05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:47:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71842939  0.40115434 -0.0138702 ] yaw=174.1deg	[env.py: 1019]
+05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74315444  0.71066261 -0.0138702 ] yaw=-161.4deg	[env.py: 1019]
+05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.63499997  0.60678885 -0.0138702 ] yaw=-175.0deg	[env.py: 1019]
+05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:47:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.3ms, total=201.3ms	[env.py: 1075]
+05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.718, 0.401, -0.014)	[env.py: 1079]
+05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.1 deg	[env.py: 1082]
+05/10 10:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
+05/10 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:47:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:47:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:47:54 INFO: [Worker 0] Worker 0 house 1 episode 158/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:47:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:47:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:47:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:47:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:47:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.578s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:47:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.568[m] 97.727[deg]	[grasp_sample.py: 539]
+05/10 10:47:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:47:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:47:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:47:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:47:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:47:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:47:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:47:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:47:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:47:56 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.511s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:47:56 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.209[deg]	[grasp_sample.py: 539]
+05/10 10:47:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:47:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:47:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:48:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:48:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:48:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:48:38 INFO: [Worker 0] Worker 0 house 1 episode 157 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:49:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:49:04 INFO: [Worker 0] Saved videos eagerly for episode 121 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:49:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 10:49:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:49:06 INFO: [Worker 0] Worker 0 house 1 episode 169 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:49:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:49:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:49:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:49:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:49:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 20.00s (batch: 5.52s, save: 14.48s)	[pipeline.py: 300]
+05/10 10:49:25 INFO: [Worker 0] [PROFILE] Episode 157 house 1 success=True episode_total=0.49s:
+  episode_total: mean=231.47s, total=231.47s, count=1, min=231467.4ms, max=231467.4ms
+  sensor_polling: mean=568.0ms, total=170.41s, count=300, min=473.3ms, max=1240.3ms
+  save_trajectories: mean=14.48s, total=14.48s, count=1, min=14475.7ms, max=14475.7ms
+  physics_step: mean=27.7ms, total=8.31s, count=300, min=15.7ms, max=141.5ms
+  save_batch_prep: mean=5.52s, total=5.52s, count=1, min=5524.6ms, max=5524.6ms
+  task_sampling: mean=489.8ms, total=489.8ms, count=1, min=489.8ms, max=489.8ms
+  task_specific_sample: mean=485.5ms, total=485.5ms, count=1, min=485.5ms, max=485.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=543.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:49:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:49:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:49:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:49:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:49:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:49:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:49:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:49:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:49:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044961m	[env.py: 870]
+05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:49:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75567064  0.28948485  0.04496123] yaw=163.5deg	[env.py: 1019]
+05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84351541  0.86430872  0.04496123] yaw=-150.7deg	[env.py: 1019]
+05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:49:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.7ms, total=187.8ms	[env.py: 1075]
+05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.756, 0.289, 0.045)	[env.py: 1079]
+05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.5 deg	[env.py: 1082]
+05/10 10:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
+05/10 10:49:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:49:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:49:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:49:27 INFO: [Worker 0] Worker 0 house 1 episode 158/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:49:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:49:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:49:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:49:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:49:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.784s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:49:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.565[m] 101.712[deg]	[grasp_sample.py: 539]
+05/10 10:49:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:49:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:49:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:49:39 INFO: [Worker 0] Saved videos eagerly for episode 110 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:49:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 10:49:39 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/10 10:49:54 INFO: [Worker 0] Worker 0 house 1 episode 165 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:49:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:49:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:49:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.65s (batch: 5.44s, save: 10.21s)	[pipeline.py: 300]
+05/10 10:49:56 INFO: [Worker 0] [PROFILE] Episode 169 house 1 success=True episode_total=1.15s:
+  episode_total: mean=200.00s, total=400.00s, count=2, min=172008.9ms, max=227996.0ms
+  sensor_polling: mean=549.6ms, total=305.55s, count=556, min=463.0ms, max=1129.6ms
+  physics_step: mean=27.8ms, total=15.47s, count=556, min=18.5ms, max=100.7ms
+  save_trajectories: mean=10.21s, total=10.21s, count=1, min=10209.6ms, max=10209.6ms
+  save_batch_prep: mean=5.44s, total=5.44s, count=1, min=5438.5ms, max=5438.5ms
+  task_sampling: mean=573.7ms, total=1.15s, count=2, min=541.7ms, max=605.6ms
+  task_specific_sample: mean=569.8ms, total=1.14s, count=2, min=537.1ms, max=602.5ms
+  scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=538.7us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=18.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:49:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:49:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:49:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:49:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:49:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:49:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:49:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:49:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:49:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006315m	[env.py: 870]
+05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:49:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63732656  0.22810575  0.00631524] yaw=172.8deg	[env.py: 1019]
+05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81876006  0.01748217  0.00631524] yaw=149.2deg	[env.py: 1019]
+05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.61964081  0.40207889  0.00631524] yaw=165.4deg	[env.py: 1019]
+05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:49:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.1ms, total=231.2ms	[env.py: 1075]
+05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.637, 0.228, 0.006)	[env.py: 1079]
+05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.8 deg	[env.py: 1082]
+05/10 10:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m	[env.py: 1086]
+05/10 10:49:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:49:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:49:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:49:58 INFO: [Worker 0] Worker 0 house 1 episode 170/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:49:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:49:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:49:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:49:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:49:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.078s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:49:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.628[m] 88.655[deg]	[grasp_sample.py: 539]
+05/10 10:49:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:50:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:50:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:50:26 INFO: [Worker 0] Saved videos eagerly for episode 121 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:50:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 10:50:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:50:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:50:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:50:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:50:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.10s (batch: 4.81s, save: 9.29s)	[pipeline.py: 300]
+05/10 10:50:41 INFO: [Worker 0] [PROFILE] Episode 165 house 1 success=True episode_total=0.45s:
+  episode_total: mean=265.21s, total=265.21s, count=1, min=265205.2ms, max=265205.2ms
+  sensor_polling: mean=586.6ms, total=175.97s, count=300, min=479.0ms, max=1037.7ms
+  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9289.9ms, max=9289.9ms
+  physics_step: mean=28.9ms, total=8.67s, count=300, min=18.9ms, max=88.6ms
+  save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4813.6ms, max=4813.6ms
+  task_sampling: mean=448.0ms, total=448.0ms, count=1, min=448.0ms, max=448.0ms
+  task_specific_sample: mean=443.9ms, total=443.9ms, count=1, min=443.9ms, max=443.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=543.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:50:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:50:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:50:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:50:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:50:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:50:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:50:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:50:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:50:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:50:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:50:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049338m	[env.py: 870]
+05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:50:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7344545   0.98707694  0.04933823] yaw=-162.6deg	[env.py: 1019]
+05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68677433  0.10007333  0.04933823] yaw=156.5deg	[env.py: 1019]
+05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94649244  0.5949604   0.04933823] yaw=-178.5deg	[env.py: 1019]
+05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:50:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.9ms, total=155.9ms	[env.py: 1075]
+05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.734, 0.987, 0.049)	[env.py: 1079]
+05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.6 deg	[env.py: 1082]
+05/10 10:50:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
+05/10 10:50:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:50:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:50:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:50:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:50:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:50:44 INFO: [Worker 0] Worker 0 house 1 episode 166/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:50:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:50:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:50:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:50:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:50:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.720s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:50:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.636[m] 84.209[deg]	[grasp_sample.py: 539]
+05/10 10:50:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:50:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:50:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:50:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:50:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:51:00 INFO: [Worker 0] Worker 0 house 1 episode 158 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:51:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:51:24 INFO: [Worker 0] Saved videos eagerly for episode 116 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:51:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 10:51:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:51:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:51:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:51:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:51:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:51:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.28s (batch: 4.64s, save: 8.64s)	[pipeline.py: 300]
+05/10 10:51:38 INFO: [Worker 0] [PROFILE] Episode 158 house 1 success=True episode_total=0.53s:
+  episode_total: mean=223.96s, total=223.96s, count=1, min=223957.5ms, max=223957.5ms
+  sensor_polling: mean=571.1ms, total=171.32s, count=300, min=463.6ms, max=1156.2ms
+  physics_step: mean=29.8ms, total=8.95s, count=300, min=15.9ms, max=98.9ms
+  save_trajectories: mean=8.64s, total=8.64s, count=1, min=8635.3ms, max=8635.3ms
+  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4641.7ms, max=4641.7ms
+  task_sampling: mean=534.1ms, total=534.1ms, count=1, min=534.1ms, max=534.1ms
+  task_specific_sample: mean=530.2ms, total=530.2ms, count=1, min=530.2ms, max=530.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=512.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:51:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:51:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:51:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:51:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:51:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:51:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:51:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:51:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:51:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:51:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:51:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021955m	[env.py: 870]
+05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:51:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:51:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:51:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=182.7ms, total=182.8ms	[env.py: 1105]
+05/10 10:51:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/10 10:51:40 ERROR: [Worker 0] Worker 0 house 1 episode 159 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/10 10:51:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:51:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:51:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:51:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:51:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:51:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:51:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:51:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:51:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.037342m	[env.py: 870]
+05/10 10:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:51:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97157739  0.27445764 -0.03734181] yaw=152.7deg	[env.py: 1019]
+05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7785973   0.87495945 -0.03734181] yaw=-163.4deg	[env.py: 1019]
+05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:51:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=257.5ms, total=257.5ms	[env.py: 1075]
+05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.274, -0.037)	[env.py: 1079]
+05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.7 deg	[env.py: 1082]
+05/10 10:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m	[env.py: 1086]
+05/10 10:51:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:51:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:51:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:51:42 INFO: [Worker 0] Worker 0 house 1 episode 160/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:51:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:51:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:51:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:51:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:51:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.533s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:51:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.310[m] 86.817[deg]	[grasp_sample.py: 539]
+05/10 10:51:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:51:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:51:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:51:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:52:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:52:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:52:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:52:26 INFO: [Worker 0] Worker 0 house 1 episode 158 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:52:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:52:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:52:56 INFO: [Worker 0] Saved videos eagerly for episode 122 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:52:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 10:52:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:53:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:53:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:53:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 18.53s (batch: 5.37s, save: 13.16s)	[pipeline.py: 300]
+05/10 10:53:16 INFO: [Worker 0] [PROFILE] Episode 158 house 1 success=True episode_total=0.53s:
+  episode_total: mean=229.29s, total=229.29s, count=1, min=229287.1ms, max=229287.1ms
+  sensor_polling: mean=547.8ms, total=164.34s, count=300, min=463.4ms, max=1255.9ms
+  save_trajectories: mean=13.16s, total=13.16s, count=1, min=13159.1ms, max=13159.1ms
+  physics_step: mean=28.7ms, total=8.62s, count=300, min=18.9ms, max=112.1ms
+  save_batch_prep: mean=5.37s, total=5.37s, count=1, min=5368.0ms, max=5368.0ms
+  task_sampling: mean=531.1ms, total=531.1ms, count=1, min=531.1ms, max=531.1ms
+  task_specific_sample: mean=527.1ms, total=527.1ms, count=1, min=527.1ms, max=527.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=447.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:53:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:53:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:53:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:53:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:53:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:53:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:53:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:53:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:53:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014421m	[env.py: 870]
+05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:53:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94309164  1.14629726  0.01442096] yaw=-144.4deg	[env.py: 1019]
+05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90674612  0.38683721  0.01442096] yaw=169.4deg	[env.py: 1019]
+05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.04178803  0.7306166   0.01442096] yaw=-151.2deg	[env.py: 1019]
+05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:53:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=316.4ms, total=316.5ms	[env.py: 1075]
+05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 1.146, 0.014)	[env.py: 1079]
+05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.4 deg	[env.py: 1082]
+05/10 10:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m	[env.py: 1086]
+05/10 10:53:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:53:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:53:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:53:19 INFO: [Worker 0] Worker 0 house 1 episode 159/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:53:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.192s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:53:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:53:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:53:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.128s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:53:23 INFO: [Worker 0] Worker 0 house 1 episode 170 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:53:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.164s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:53:24 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.597[m] 87.724[deg]	[grasp_sample.py: 539]
+05/10 10:53:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:53:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:53:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:53:43 INFO: [Worker 0] Worker 0 house 1 episode 166 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:53:54 INFO: [Worker 0] Saved videos eagerly for episode 111 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:53:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 10:53:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:54:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:54:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:54:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.25s (batch: 5.08s, save: 11.18s)	[pipeline.py: 300]
+05/10 10:54:11 INFO: [Worker 0] [PROFILE] Episode 170 house 1 success=True episode_total=0.54s:
+  episode_total: mean=252.90s, total=252.90s, count=1, min=252897.6ms, max=252897.6ms
+  sensor_polling: mean=556.4ms, total=166.92s, count=300, min=466.1ms, max=1158.3ms
+  save_trajectories: mean=11.18s, total=11.18s, count=1, min=11177.1ms, max=11177.1ms
+  physics_step: mean=27.5ms, total=8.25s, count=300, min=19.1ms, max=90.3ms
+  save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5076.7ms, max=5076.7ms
+  task_sampling: mean=540.8ms, total=540.8ms, count=1, min=540.8ms, max=540.8ms
+  task_specific_sample: mean=535.9ms, total=535.9ms, count=1, min=535.9ms, max=535.9ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=653.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:54:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:54:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:54:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:54:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:54:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:54:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:54:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:54:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:54:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005093m	[env.py: 870]
+05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:54:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90439853  0.06908466  0.0050929 ] yaw=162.5deg	[env.py: 1019]
+05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.71920607  0.01318966  0.0050929 ] yaw=144.3deg	[env.py: 1019]
+05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:54:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=242.7ms, total=242.8ms	[env.py: 1075]
+05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.904, 0.069, 0.005)	[env.py: 1079]
+05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.5 deg	[env.py: 1082]
+05/10 10:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m	[env.py: 1086]
+05/10 10:54:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:54:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:54:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:54:13 INFO: [Worker 0] Worker 0 house 1 episode 171/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:54:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:54:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:54:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:54:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:54:14 INFO: [Worker 0] Saved videos eagerly for episode 122 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:54:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 10:54:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:54:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.688s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:54:15 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.450[m] 78.806[deg]	[grasp_sample.py: 539]
+05/10 10:54:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:54:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:54:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:54:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:54:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:54:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.07s (batch: 4.98s, save: 9.09s)	[pipeline.py: 300]
+05/10 10:54:29 INFO: [Worker 0] [PROFILE] Episode 166 house 1 success=True episode_total=0.51s:
+  episode_total: mean=225.65s, total=225.65s, count=1, min=225645.9ms, max=225645.9ms
+  sensor_polling: mean=551.9ms, total=165.56s, count=300, min=446.3ms, max=1148.1ms
+  save_trajectories: mean=9.09s, total=9.09s, count=1, min=9091.0ms, max=9091.0ms
+  physics_step: mean=27.4ms, total=8.22s, count=300, min=19.3ms, max=148.5ms
+  save_batch_prep: mean=4.98s, total=4.98s, count=1, min=4975.7ms, max=4975.7ms
+  task_sampling: mean=510.7ms, total=510.7ms, count=1, min=510.7ms, max=510.7ms
+  task_specific_sample: mean=507.0ms, total=507.0ms, count=1, min=507.0ms, max=507.0ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=447.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:54:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:54:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:54:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:54:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:54:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:54:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:54:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:54:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:54:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027314m	[env.py: 870]
+05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:54:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01498185  0.7317471   0.02731386] yaw=-157.9deg	[env.py: 1019]
+05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79368528  0.42498473  0.02731386] yaw=180.3deg	[env.py: 1019]
+05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00073339  0.36901708  0.02731386] yaw=163.3deg	[env.py: 1019]
+05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:54:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=245.7ms, total=245.8ms	[env.py: 1075]
+05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.015, 0.732, 0.027)	[env.py: 1079]
+05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.9 deg	[env.py: 1082]
+05/10 10:54:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.731m	[env.py: 1086]
+05/10 10:54:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:54:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:54:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:54:31 INFO: [Worker 0] Worker 0 house 1 episode 167/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:54:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:54:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:54:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:54:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:54:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.916s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:54:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.299[m] 87.296[deg]	[grasp_sample.py: 539]
+05/10 10:54:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:54:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:54:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:54:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:54:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:54:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:55:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:55:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:55:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:55:17 INFO: [Worker 0] Worker 0 house 1 episode 160 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:55:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:55:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:55:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:55:44 INFO: [Worker 0] Saved videos eagerly for episode 117 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:55:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 10:55:44 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/10 10:55:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:55:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:55:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:55:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:55:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:55:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:55:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:55:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.93s (batch: 4.44s, save: 10.48s)	[pipeline.py: 300]
+05/10 10:56:00 INFO: [Worker 0] [PROFILE] Episode 160 house 1 success=True episode_total=0.62s:
+  episode_total: mean=129.45s, total=258.90s, count=2, min=194.4ms, max=258703.3ms
+  sensor_polling: mean=569.8ms, total=160.70s, count=282, min=476.0ms, max=1035.6ms
+  save_trajectories: mean=10.48s, total=10.48s, count=1, min=10481.5ms, max=10481.5ms
+  physics_step: mean=29.5ms, total=8.31s, count=282, min=16.1ms, max=102.3ms
+  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4444.8ms, max=4444.8ms
+  task_specific_sample: mean=403.0ms, total=806.1ms, count=2, min=188.6ms, max=617.5ms
+  task_sampling: mean=620.7ms, total=620.7ms, count=1, min=620.7ms, max=620.7ms
+  task_sampling_failed: mean=194.4ms, total=194.4ms, count=1, min=194.4ms, max=194.4ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.3ms, max=2.6ms
+  mj_forward_sync: mean=454.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:56:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:56:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:56:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:56:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:56:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:56:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:56:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:56:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:56:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:56:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022930m	[env.py: 870]
+05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:56:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00238154  0.19051658  0.02293008] yaw=157.3deg	[env.py: 1019]
+05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.12639016  1.04825258  0.02293008] yaw=-138.0deg	[env.py: 1019]
+05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:56:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.6ms, total=188.6ms	[env.py: 1075]
+05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.002, 0.191, 0.023)	[env.py: 1079]
+05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.3 deg	[env.py: 1082]
+05/10 10:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m	[env.py: 1086]
+05/10 10:56:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:56:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:56:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:56:02 INFO: [Worker 0] Worker 0 house 1 episode 161/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:56:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:56:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:56:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:56:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:56:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:56:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:56:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.349[m] 99.705[deg]	[grasp_sample.py: 539]
+05/10 10:56:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:56:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:56:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:56:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:56:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:56:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:56:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:56:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:56:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 64 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:56:07 INFO: [Worker 0] Feasibility-checked 64 grasps in 2.326s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 10:56:07 ERROR: [Worker 0] Worker 0 house 1 episode 159 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 10:56:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:56:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:56:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:56:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:56:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:56:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:56:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:56:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:56:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048196m	[env.py: 870]
+05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:56:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94509292  1.14240304 -0.04819622] yaw=-139.8deg	[env.py: 1019]
+05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68832249  0.14108759 -0.04819622] yaw=162.8deg	[env.py: 1019]
+05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96383133  1.21329349 -0.04819622] yaw=-127.4deg	[env.py: 1019]
+05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:56:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=324.3ms, total=324.4ms	[env.py: 1075]
+05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.945, 1.142, -0.048)	[env.py: 1079]
+05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.8 deg	[env.py: 1082]
+05/10 10:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/10 10:56:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:56:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:56:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:56:10 INFO: [Worker 0] Worker 0 house 1 episode 160/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:56:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:56:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:56:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:56:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:56:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.982s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:56:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.558[m] 78.958[deg]	[grasp_sample.py: 539]
+05/10 10:56:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:56:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:56:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:56:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:56:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:57:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:57:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:57:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:57:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:57:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:57:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:57:21 INFO: [Worker 0] Worker 0 house 1 episode 167 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:57:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:57:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:57:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:57:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:57:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:57:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:57:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:57:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:57:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:57:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:57:28 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.953s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:57:28 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.449[deg]	[grasp_sample.py: 539]
+05/10 10:57:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:57:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:57:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:57:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:57:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:57:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:57:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:57:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:57:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:57:47 INFO: [Worker 0] Saved videos eagerly for episode 123 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:57:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 10:57:47 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
+05/10 10:57:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:57:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:57:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:57:50 INFO: [Worker 0] Worker 0 house 1 episode 171 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:58:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:58:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:58:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.88s (batch: 4.30s, save: 8.59s)	[pipeline.py: 300]
+05/10 10:58:01 INFO: [Worker 0] [PROFILE] Episode 167 house 1 success=True episode_total=0.69s:
+  episode_total: mean=209.76s, total=209.76s, count=1, min=209762.8ms, max=209762.8ms
+  sensor_polling: mean=555.6ms, total=156.14s, count=281, min=475.2ms, max=913.4ms
+  save_trajectories: mean=8.59s, total=8.59s, count=1, min=8586.8ms, max=8586.8ms
+  physics_step: mean=27.9ms, total=7.85s, count=281, min=19.7ms, max=110.7ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4298.0ms, max=4298.0ms
+  task_sampling: mean=693.7ms, total=693.7ms, count=1, min=693.7ms, max=693.7ms
+  task_specific_sample: mean=688.9ms, total=688.9ms, count=1, min=688.9ms, max=688.9ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=540.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:58:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:58:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:58:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:58:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:58:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:58:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:58:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:58:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:58:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029068m	[env.py: 870]
+05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:58:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1822688   1.06552105  0.02906794] yaw=-138.7deg	[env.py: 1019]
+05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86514391  0.90941326  0.02906794] yaw=-151.0deg	[env.py: 1019]
+05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81892526  0.9986684   0.02906794] yaw=-148.2deg	[env.py: 1019]
+05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:58:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.1ms, total=115.1ms	[env.py: 1075]
+05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.182, 1.066, 0.029)	[env.py: 1079]
+05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.7 deg	[env.py: 1082]
+05/10 10:58:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m	[env.py: 1086]
+05/10 10:58:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:58:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:58:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:58:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:58:03 INFO: [Worker 0] Worker 0 house 1 episode 168/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:58:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:58:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:58:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:58:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:58:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.619s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:58:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.401[m] 101.287[deg]	[grasp_sample.py: 539]
+05/10 10:58:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:58:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:58:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:58:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:58:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:58:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:58:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:58:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:58:15 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.481s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:58:15 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.025[m] 1.189[deg]	[grasp_sample.py: 539]
+05/10 10:58:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:58:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:58:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:58:16 INFO: [Worker 0] Saved videos eagerly for episode 112 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:58:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 10:58:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:58:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:58:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:58:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:58:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.85s (batch: 4.66s, save: 9.19s)	[pipeline.py: 300]
+05/10 10:58:31 INFO: [Worker 0] [PROFILE] Episode 171 house 1 success=True episode_total=0.65s:
+  episode_total: mean=258.32s, total=258.32s, count=1, min=258317.0ms, max=258317.0ms
+  sensor_polling: mean=562.0ms, total=168.59s, count=300, min=468.1ms, max=956.8ms
+  save_trajectories: mean=9.19s, total=9.19s, count=1, min=9193.9ms, max=9193.9ms
+  physics_step: mean=28.0ms, total=8.41s, count=300, min=19.4ms, max=88.1ms
+  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4660.8ms, max=4660.8ms
+  task_sampling: mean=653.7ms, total=653.7ms, count=1, min=653.7ms, max=653.7ms
+  task_specific_sample: mean=647.9ms, total=647.9ms, count=1, min=647.9ms, max=647.9ms
+  scene_randomize: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
+  mj_forward_sync: mean=915.2us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
+  policy_setup: mean=23.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:58:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:58:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:58:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:58:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:58:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:58:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:58:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:58:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:58:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:58:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006496m	[env.py: 870]
+05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:58:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81905059  0.66442717  0.00649643] yaw=-167.3deg	[env.py: 1019]
+05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74830936  0.25711684  0.00649643] yaw=164.3deg	[env.py: 1019]
+05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74509314 -0.03791984  0.00649643] yaw=140.7deg	[env.py: 1019]
+05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:58:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=89.9ms, total=89.9ms	[env.py: 1075]
+05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.819, 0.664, 0.006)	[env.py: 1079]
+05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.3 deg	[env.py: 1082]
+05/10 10:58:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
+05/10 10:58:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:58:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:58:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:58:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:58:33 INFO: [Worker 0] Worker 0 house 1 episode 172/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:58:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:58:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:58:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:58:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:58:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.678s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:58:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.524[m] 98.492[deg]	[grasp_sample.py: 539]
+05/10 10:58:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:58:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:58:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:58:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:58:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:58:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:58:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:58:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:58:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:58:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:58:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.888s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:58:55 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.324[deg]	[grasp_sample.py: 539]
+05/10 10:58:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:58:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:58:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:58:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:58:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:59:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:59:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:59:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:59:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:59:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:59:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:59:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:59:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:59:06 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.685s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:59:06 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.877[deg]	[grasp_sample.py: 539]
+05/10 10:59:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:59:09 ERROR: [Worker 0] Worker 0 house 1 episode 161 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 10:59:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:59:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:59:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:59:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:59:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:59:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:59:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:59:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:59:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:59:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:59:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008259m	[env.py: 870]
+05/10 10:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:59:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00817672  0.6197135  -0.00825909] yaw=-168.6deg	[env.py: 1019]
+05/10 10:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:59:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.19020943  1.01340844 -0.00825909] yaw=-144.2deg	[env.py: 1019]
+05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76813218 -0.02045564 -0.00825909] yaw=142.4deg	[env.py: 1019]
+05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:59:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=508.1ms, total=508.1ms	[env.py: 1075]
+05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.008, 0.620, -0.008)	[env.py: 1079]
+05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.6 deg	[env.py: 1082]
+05/10 10:59:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.708m	[env.py: 1086]
+05/10 10:59:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:59:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:59:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:59:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:59:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:59:13 INFO: [Worker 0] Worker 0 house 1 episode 162/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:59:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:59:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:59:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:59:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:59:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.220s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:59:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.293[m] 96.766[deg]	[grasp_sample.py: 539]
+05/10 10:59:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:59:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:59:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:59:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:59:24 INFO: [Worker 0] Worker 0 house 1 episode 160 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:59:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:59:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:59:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:59:53 INFO: [Worker 0] Saved videos eagerly for episode 123 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:59:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 10:59:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:59:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:00:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:00:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:00:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:00:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:00:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.80s (batch: 5.45s, save: 10.35s)	[pipeline.py: 300]
+05/10 11:00:10 INFO: [Worker 0] [PROFILE] Episode 160 house 1 success=True episode_total=1.30s:
+  episode_total: mean=204.74s, total=409.49s, count=2, min=168884.7ms, max=240604.0ms
+  sensor_polling: mean=552.4ms, total=303.84s, count=550, min=454.6ms, max=1127.6ms
+  physics_step: mean=27.5ms, total=15.12s, count=550, min=19.0ms, max=108.4ms
+  save_trajectories: mean=10.35s, total=10.35s, count=1, min=10352.5ms, max=10352.5ms
+  save_batch_prep: mean=5.45s, total=5.45s, count=1, min=5448.7ms, max=5448.7ms
+  task_sampling: mean=650.6ms, total=1.30s, count=2, min=622.7ms, max=678.4ms
+  task_specific_sample: mean=646.4ms, total=1.29s, count=2, min=618.3ms, max=674.5ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.6ms, max=2.8ms
+  mj_forward_sync: mean=572.4us, total=1.1ms, count=2, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:00:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:00:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:00:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:00:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:00:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:00:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:00:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:00:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:00:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031305m	[env.py: 870]
+05/10 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:00:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79464888  0.32510445 -0.03130454] yaw=164.9deg	[env.py: 1019]
+05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76047267  0.74364378 -0.03130454] yaw=-156.1deg	[env.py: 1019]
+05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.74273448  0.64189856 -0.03130454] yaw=-171.3deg	[env.py: 1019]
+05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:00:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=412.8ms, total=412.8ms	[env.py: 1075]
+05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.795, 0.325, -0.031)	[env.py: 1079]
+05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.9 deg	[env.py: 1082]
+05/10 11:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
+05/10 11:00:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:00:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:00:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:00:12 INFO: [Worker 0] Worker 0 house 1 episode 161/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:00:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:00:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:00:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:00:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:00:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.417s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:00:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.544[m] 102.850[deg]	[grasp_sample.py: 539]
+05/10 11:00:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:00:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:00:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:00:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:00:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:00:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:00:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:00:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:00:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:00:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:00:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:00:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:00:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:00:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:00:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:00:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:00:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.970s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:00:55 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.242[deg]	[grasp_sample.py: 539]
+05/10 11:00:56 ERROR: [Worker 0] Worker 0 house 1 episode 168 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 11:00:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:00:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:00:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:00:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:00:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:00:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:00:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:00:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:00:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012298m	[env.py: 870]
+05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:00:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96993433  0.22902767 -0.01229816] yaw=154.8deg	[env.py: 1019]
+05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:00:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=187.4ms, total=187.4ms	[env.py: 1075]
+05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.970, 0.229, -0.012)	[env.py: 1079]
+05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.8 deg	[env.py: 1082]
+05/10 11:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.775m	[env.py: 1086]
+05/10 11:00:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:00:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:00:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:00:58 INFO: [Worker 0] Worker 0 house 1 episode 169/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:00:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:00:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:00:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:00:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:01:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.112s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:01:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.294[m] 84.748[deg]	[grasp_sample.py: 539]
+05/10 11:01:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:01:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:01:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:01:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:01:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:01:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:01:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:01:39 INFO: [Worker 0] Worker 0 house 1 episode 172 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:01:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:01:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:02:05 INFO: [Worker 0] Saved videos eagerly for episode 113 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:02:05 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 11:02:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:02:09 INFO: [Worker 0] Worker 0 house 1 episode 162 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:02:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:02:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:02:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.33s (batch: 4.68s, save: 8.66s)	[pipeline.py: 300]
+05/10 11:02:19 INFO: [Worker 0] [PROFILE] Episode 172 house 1 success=True episode_total=0.39s:
+  episode_total: mean=226.38s, total=226.38s, count=1, min=226380.1ms, max=226380.1ms
+  sensor_polling: mean=570.8ms, total=171.23s, count=300, min=466.6ms, max=1004.1ms
+  save_trajectories: mean=8.66s, total=8.66s, count=1, min=8656.4ms, max=8656.4ms
+  physics_step: mean=28.2ms, total=8.46s, count=300, min=18.8ms, max=122.2ms
+  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4678.1ms, max=4678.1ms
+  task_sampling: mean=393.1ms, total=393.1ms, count=1, min=393.1ms, max=393.1ms
+  task_specific_sample: mean=389.1ms, total=389.1ms, count=1, min=389.1ms, max=389.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=433.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:02:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:02:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:02:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:02:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:02:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:02:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:02:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:02:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:02:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021795m	[env.py: 870]
+05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:02:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78277953  0.75957733 -0.02179542] yaw=-171.6deg	[env.py: 1019]
+05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:02:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=283.3ms, total=283.4ms	[env.py: 1075]
+05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.783, 0.760, -0.022)	[env.py: 1079]
+05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.6 deg	[env.py: 1082]
+05/10 11:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
+05/10 11:02:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:02:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:02:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:02:21 INFO: [Worker 0] Worker 0 house 1 episode 173/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:02:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:02:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:02:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:02:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:02:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.559s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:02:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.488[m] 82.208[deg]	[grasp_sample.py: 539]
+05/10 11:02:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:02:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:02:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:02:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:02:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:02:34 INFO: [Worker 0] Saved videos eagerly for episode 118 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:02:34 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 11:02:34 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
+05/10 11:02:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:02:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:02:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.00s (batch: 4.61s, save: 8.38s)	[pipeline.py: 300]
+05/10 11:02:48 INFO: [Worker 0] [PROFILE] Episode 162 house 1 success=True episode_total=1.34s:
+  episode_total: mean=201.44s, total=402.88s, count=2, min=187509.2ms, max=215373.1ms
+  sensor_polling: mean=565.2ms, total=292.23s, count=517, min=466.0ms, max=1157.7ms
+  physics_step: mean=27.4ms, total=14.19s, count=517, min=16.2ms, max=101.5ms
+  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8384.9ms, max=8384.9ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4613.5ms, max=4613.5ms
+  task_sampling: mean=670.7ms, total=1.34s, count=2, min=529.8ms, max=811.7ms
+  task_specific_sample: mean=666.9ms, total=1.33s, count=2, min=525.8ms, max=808.0ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.7ms, max=2.6ms
+  mj_forward_sync: mean=537.2us, total=1.1ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:02:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:02:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:02:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:02:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:02:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:02:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:02:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:02:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:02:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024961m	[env.py: 870]
+05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:02:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13964813  1.07093173 -0.02496124] yaw=-130.9deg	[env.py: 1019]
+05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69937161  0.38176038 -0.02496124] yaw=169.9deg	[env.py: 1019]
+05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04083973  0.92803326 -0.02496124] yaw=-144.3deg	[env.py: 1019]
+05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:02:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.2ms, total=123.2ms	[env.py: 1075]
+05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.140, 1.071, -0.025)	[env.py: 1079]
+05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.9 deg	[env.py: 1082]
+05/10 11:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
+05/10 11:02:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:02:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:02:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:02:50 INFO: [Worker 0] Worker 0 house 1 episode 163/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:02:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:02:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:02:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:02:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:02:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.799s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:02:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.419[m] 91.574[deg]	[grasp_sample.py: 539]
+05/10 11:02:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:02:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:02:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:03:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:03:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:03:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:03:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:03:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:03:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:03:13 INFO: [Worker 0] Worker 0 house 1 episode 161 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:03:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:03:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:03:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:03:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:03:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:03:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:03:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:03:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.173s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:03:17 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.696s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:03:17 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.852[deg]	[grasp_sample.py: 539]
+05/10 11:03:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:03:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:03:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:03:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:03:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:03:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:03:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:03:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:03:42 INFO: [Worker 0] Saved videos eagerly for episode 124 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:03:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 11:03:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:03:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:03:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:03:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:03:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:03:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:03:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.82s (batch: 4.59s, save: 10.23s)	[pipeline.py: 300]
+05/10 11:03:58 INFO: [Worker 0] [PROFILE] Episode 161 house 1 success=True episode_total=0.79s:
+  episode_total: mean=226.70s, total=226.70s, count=1, min=226700.3ms, max=226700.3ms
+  sensor_polling: mean=545.4ms, total=163.63s, count=300, min=455.1ms, max=1256.9ms
+  save_trajectories: mean=10.23s, total=10.23s, count=1, min=10226.0ms, max=10226.0ms
+  physics_step: mean=26.9ms, total=8.06s, count=300, min=19.4ms, max=118.3ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4593.9ms, max=4593.9ms
+  task_sampling: mean=787.9ms, total=787.9ms, count=1, min=787.9ms, max=787.9ms
+  task_specific_sample: mean=783.4ms, total=783.4ms, count=1, min=783.4ms, max=783.4ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=534.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:04:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:04:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:04:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:04:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:04:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:04:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:04:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045134m	[env.py: 870]
+05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:04:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.67185184  0.13884054 -0.04513388] yaw=170.7deg	[env.py: 1019]
+05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.69788866  0.33115184 -0.04513388] yaw=176.0deg	[env.py: 1019]
+05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:04:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.8ms, total=188.9ms	[env.py: 1075]
+05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.139, -0.045)	[env.py: 1079]
+05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.7 deg	[env.py: 1082]
+05/10 11:04:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
+05/10 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:04:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:04:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:04:01 INFO: [Worker 0] Worker 0 house 1 episode 162/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:04:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:04:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:04:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:04:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:04:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.443s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:04:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.674[m] 95.886[deg]	[grasp_sample.py: 539]
+05/10 11:04:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:04:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:04:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:04:32 INFO: [Worker 0] Worker 0 house 1 episode 169 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:05:02 INFO: [Worker 0] Saved videos eagerly for episode 124 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:05:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 11:05:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:05:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:05:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:05:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.64s (batch: 5.54s, save: 10.10s)	[pipeline.py: 300]
+05/10 11:05:18 INFO: [Worker 0] [PROFILE] Episode 169 house 1 success=True episode_total=0.95s:
+  episode_total: mean=216.91s, total=433.83s, count=2, min=173690.6ms, max=260136.1ms
+  sensor_polling: mean=553.6ms, total=307.80s, count=556, min=457.3ms, max=1029.0ms
+  physics_step: mean=28.0ms, total=15.57s, count=556, min=17.0ms, max=95.6ms
+  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10097.8ms, max=10097.8ms
+  save_batch_prep: mean=5.54s, total=5.54s, count=1, min=5541.3ms, max=5541.3ms
+  task_sampling: mean=473.7ms, total=947.3ms, count=2, min=450.8ms, max=496.5ms
+  task_specific_sample: mean=469.9ms, total=939.9ms, count=2, min=446.7ms, max=493.1ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.5ms, max=2.6ms
+  mj_forward_sync: mean=464.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:05:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:05:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:05:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:05:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:05:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:05:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:05:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:05:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:05:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041287m	[env.py: 870]
+05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:05:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86848824  0.32869965 -0.041287  ] yaw=160.6deg	[env.py: 1019]
+05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 130.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89924039  0.55728623 -0.041287  ] yaw=-173.9deg	[env.py: 1019]
+05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06563792  0.82324958 -0.041287  ] yaw=-157.3deg	[env.py: 1019]
+05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:05:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=240.3ms, total=240.3ms	[env.py: 1075]
+05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.868, 0.329, -0.041)	[env.py: 1079]
+05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.6 deg	[env.py: 1082]
+05/10 11:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
+05/10 11:05:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:05:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:05:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:05:20 INFO: [Worker 0] Worker 0 house 1 episode 170/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:05:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.147s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:05:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:05:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:05:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:05:21 INFO: [Worker 0] Worker 0 house 1 episode 173 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:05:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.698s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:05:21 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.455[m] 100.512[deg]	[grasp_sample.py: 539]
+05/10 11:05:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:05:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:05:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:05:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:05:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:05:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:05:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:05:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:05:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:05:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:05:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:05:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:05:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:05:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:05:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:05:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:05:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:05:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:05:39 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.121s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:05:39 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.251[deg]	[grasp_sample.py: 539]
+05/10 11:05:40 ERROR: [Worker 0] Worker 0 house 1 episode 163 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 11:05:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:05:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:05:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:05:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:05:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:05:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:05:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:05:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:05:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:05:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027246m	[env.py: 870]
+05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:05:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92663026  0.22653145 -0.027246  ] yaw=171.7deg	[env.py: 1019]
+05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86426701  0.6151039  -0.027246  ] yaw=-182.3deg	[env.py: 1019]
+05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82809256  0.4141633  -0.027246  ] yaw=180.0deg	[env.py: 1019]
+05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:05:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=403.6ms, total=403.6ms	[env.py: 1075]
+05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.227, -0.027)	[env.py: 1079]
+05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.7 deg	[env.py: 1082]
+05/10 11:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/10 11:05:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:05:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:05:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:05:43 INFO: [Worker 0] Worker 0 house 1 episode 164/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:05:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:05:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:05:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:05:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:05:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.172s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:05:45 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.390[m] 88.530[deg]	[grasp_sample.py: 539]
+05/10 11:05:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:05:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:05:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:05:51 INFO: [Worker 0] Saved videos eagerly for episode 114 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:05:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 11:05:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:06:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:06:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:06:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.01s (batch: 5.48s, save: 10.52s)	[pipeline.py: 300]
+05/10 11:06:08 INFO: [Worker 0] [PROFILE] Episode 173 house 1 success=True episode_total=0.64s:
+  episode_total: mean=226.92s, total=226.92s, count=1, min=226923.0ms, max=226923.0ms
+  sensor_polling: mean=554.8ms, total=166.45s, count=300, min=455.8ms, max=1207.5ms
+  save_trajectories: mean=10.52s, total=10.52s, count=1, min=10524.2ms, max=10524.2ms
+  physics_step: mean=26.9ms, total=8.08s, count=300, min=16.3ms, max=106.0ms
+  save_batch_prep: mean=5.48s, total=5.48s, count=1, min=5482.2ms, max=5482.2ms
+  task_sampling: mean=635.0ms, total=635.0ms, count=1, min=635.0ms, max=635.0ms
+  task_specific_sample: mean=631.4ms, total=631.4ms, count=1, min=631.4ms, max=631.4ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=465.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:06:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:06:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:06:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:06:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:06:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:06:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:06:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:06:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:06:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:06:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:06:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011624m	[env.py: 870]
+05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:06:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13148716  0.9405822  -0.01162382] yaw=-134.8deg	[env.py: 1019]
+05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:06:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82566098  0.95792482 -0.01162382] yaw=-143.0deg	[env.py: 1019]
+05/10 11:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.74257325  0.95011512 -0.01162382] yaw=-148.2deg	[env.py: 1019]
+05/10 11:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:06:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=225.0ms, total=225.0ms	[env.py: 1075]
+05/10 11:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.131, 0.941, -0.012)	[env.py: 1079]
+05/10 11:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.8 deg	[env.py: 1082]
+05/10 11:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.732m	[env.py: 1086]
+05/10 11:06:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:06:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:06:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:06:10 INFO: [Worker 0] Worker 0 house 1 episode 174/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:06:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:06:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:06:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:06:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:06:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:06:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.313[m] 88.825[deg]	[grasp_sample.py: 539]
+05/10 11:06:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:06:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:06:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:06:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:06:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:06:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:06:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:06:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:06:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:06:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:06:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:07:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:07:19 INFO: [Worker 0] Worker 0 house 1 episode 162 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:07:46 INFO: [Worker 0] Saved videos eagerly for episode 125 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:07:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 11:07:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:08:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:08:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:08:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.66s (batch: 4.68s, save: 8.98s)	[pipeline.py: 300]
+05/10 11:08:01 INFO: [Worker 0] [PROFILE] Episode 162 house 1 success=True episode_total=0.54s:
+  episode_total: mean=240.51s, total=240.51s, count=1, min=240509.2ms, max=240509.2ms
+  sensor_polling: mean=557.7ms, total=167.32s, count=300, min=470.8ms, max=1241.5ms
+  save_trajectories: mean=8.98s, total=8.98s, count=1, min=8976.6ms, max=8976.6ms
+  physics_step: mean=28.0ms, total=8.39s, count=300, min=19.7ms, max=79.4ms
+  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4683.2ms, max=4683.2ms
+  task_sampling: mean=538.2ms, total=538.2ms, count=1, min=538.2ms, max=538.2ms
+  task_specific_sample: mean=533.3ms, total=533.3ms, count=1, min=533.3ms, max=533.3ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=633.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:08:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:08:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:08:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:08:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:08:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:08:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:08:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:08:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:08:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013290m	[env.py: 870]
+05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:08:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78652637  0.11208063 -0.01328997] yaw=166.0deg	[env.py: 1019]
+05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76150571  0.6905759  -0.01328997] yaw=-172.9deg	[env.py: 1019]
+05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76755533  0.59401302 -0.01328997] yaw=-177.4deg	[env.py: 1019]
+05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:08:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.4ms, total=122.5ms	[env.py: 1075]
+05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.787, 0.112, -0.013)	[env.py: 1079]
+05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.0 deg	[env.py: 1082]
+05/10 11:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/10 11:08:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:08:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:08:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:08:03 INFO: [Worker 0] Worker 0 house 1 episode 163/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:08:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:08:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:08:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:08:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:08:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.724s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:08:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.523[m] 84.235[deg]	[grasp_sample.py: 539]
+05/10 11:08:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:08:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:08:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:08:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:08:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:08:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:08:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:08:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:08:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:08:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:08:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:08:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:08:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:08:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:08:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:08:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:08:22 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.446s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:08:22 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.143[deg]	[grasp_sample.py: 539]
+05/10 11:08:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:08:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:08:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:08:27 INFO: [Worker 0] Worker 0 house 1 episode 170 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:08:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:08:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:08:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:08:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:08:57 INFO: [Worker 0] Saved videos eagerly for episode 125 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:08:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 11:08:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:08:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:08:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:09:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:09:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:09:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:09:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:09:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:09:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:09:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:09:06 INFO: [Worker 0] Worker 0 house 1 episode 174 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:09:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:09:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:09:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:09:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:09:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:09:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.57s (batch: 4.95s, save: 12.62s)	[pipeline.py: 300]
+05/10 11:09:16 INFO: [Worker 0] [PROFILE] Episode 170 house 1 success=True episode_total=0.56s:
+  episode_total: mean=235.68s, total=235.68s, count=1, min=235684.6ms, max=235684.6ms
+  sensor_polling: mean=565.6ms, total=169.67s, count=300, min=469.3ms, max=1027.4ms
+  save_trajectories: mean=12.62s, total=12.62s, count=1, min=12623.6ms, max=12623.6ms
+  physics_step: mean=28.6ms, total=8.58s, count=300, min=19.7ms, max=139.8ms
+  save_batch_prep: mean=4.95s, total=4.95s, count=1, min=4947.7ms, max=4947.7ms
+  task_sampling: mean=561.8ms, total=561.8ms, count=1, min=561.8ms, max=561.8ms
+  task_specific_sample: mean=556.7ms, total=556.7ms, count=1, min=556.7ms, max=556.7ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=635.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:09:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:09:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:09:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:09:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:09:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:09:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:09:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:09:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:09:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:09:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:09:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031908m	[env.py: 870]
+05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:09:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03914639  0.93829245  0.03190796] yaw=-153.7deg	[env.py: 1019]
+05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96313997  0.65171972  0.03190796] yaw=-156.0deg	[env.py: 1019]
+05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:09:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=378.9ms, total=379.0ms	[env.py: 1075]
+05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.039, 0.938, 0.032)	[env.py: 1079]
+05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.7 deg	[env.py: 1082]
+05/10 11:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
+05/10 11:09:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:09:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:09:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:09:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:09:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:09:19 INFO: [Worker 0] Worker 0 house 1 episode 171/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:09:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:09:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:09:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:09:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:09:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.870s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:09:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.427[m] 99.406[deg]	[grasp_sample.py: 539]
+05/10 11:09:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:09:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:09:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:09:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:09:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:09:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:09:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:09:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:09:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:09:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:09:23 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.640s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:09:23 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.898[deg]	[grasp_sample.py: 539]
+05/10 11:09:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:09:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:09:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:09:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:09:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:09:30 INFO: [Worker 0] Worker 0 house 1 episode 164 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:09:35 INFO: [Worker 0] Saved videos eagerly for episode 115 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:09:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 11:09:35 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
+05/10 11:09:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:09:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:09:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.74s (batch: 4.39s, save: 10.36s)	[pipeline.py: 300]
+05/10 11:09:50 INFO: [Worker 0] [PROFILE] Episode 174 house 1 success=True episode_total=0.56s:
+  episode_total: mean=220.85s, total=220.85s, count=1, min=220845.6ms, max=220845.6ms
+  sensor_polling: mean=548.2ms, total=155.70s, count=284, min=463.7ms, max=1149.4ms
+  save_trajectories: mean=10.36s, total=10.36s, count=1, min=10357.0ms, max=10357.0ms
+  physics_step: mean=27.5ms, total=7.81s, count=284, min=19.5ms, max=110.6ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4386.9ms, max=4386.9ms
+  task_sampling: mean=564.6ms, total=564.6ms, count=1, min=564.6ms, max=564.6ms
+  task_specific_sample: mean=560.8ms, total=560.8ms, count=1, min=560.8ms, max=560.8ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=459.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:09:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:09:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:09:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:09:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:09:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:09:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:09:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:09:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:09:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:09:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:09:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039884m	[env.py: 870]
+05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:09:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7366531   0.05636751  0.03988444] yaw=161.1deg	[env.py: 1019]
+05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93183576  1.05902747  0.03988444] yaw=-139.1deg	[env.py: 1019]
+05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:09:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=250.9ms, total=251.0ms	[env.py: 1075]
+05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.737, 0.056, 0.040)	[env.py: 1079]
+05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.1 deg	[env.py: 1082]
+05/10 11:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
+05/10 11:09:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:09:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:09:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:09:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:09:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:09:53 INFO: [Worker 0] Worker 0 house 1 episode 175/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:09:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:09:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:09:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:09:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:09:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.971s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:09:55 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.651[m] 93.209[deg]	[grasp_sample.py: 539]
+05/10 11:09:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:09:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:09:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:10:00 INFO: [Worker 0] Saved videos eagerly for episode 119 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:10:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 11:10:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:10:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:10:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:10:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:10:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.04s (batch: 5.11s, save: 10.93s)	[pipeline.py: 300]
+05/10 11:10:17 INFO: [Worker 0] [PROFILE] Episode 164 house 1 success=True episode_total=1.26s:
+  episode_total: mean=222.79s, total=445.59s, count=2, min=171207.9ms, max=274378.3ms
+  sensor_polling: mean=551.3ms, total=310.40s, count=563, min=459.6ms, max=965.7ms
+  physics_step: mean=26.8ms, total=15.08s, count=563, min=16.9ms, max=132.2ms
+  save_trajectories: mean=10.93s, total=10.93s, count=1, min=10932.1ms, max=10932.1ms
+  save_batch_prep: mean=5.11s, total=5.11s, count=1, min=5109.4ms, max=5109.4ms
+  task_sampling: mean=629.9ms, total=1.26s, count=2, min=475.8ms, max=784.0ms
+  task_specific_sample: mean=615.9ms, total=1.23s, count=2, min=471.4ms, max=760.3ms
+  scene_randomize: mean=11.2ms, total=22.4ms, count=2, min=2.8ms, max=19.6ms
+  mj_forward_sync: mean=640.6us, total=1.3ms, count=2, min=0.5ms, max=0.8ms
+  policy_setup: mean=19.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:10:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:10:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:10:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:10:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:10:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:10:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:10:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015137m	[env.py: 870]
+05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:10:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68931129  0.23358773 -0.01513747] yaw=167.7deg	[env.py: 1019]
+05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:10:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=343.2ms, total=343.2ms	[env.py: 1075]
+05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.689, 0.234, -0.015)	[env.py: 1079]
+05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.7 deg	[env.py: 1082]
+05/10 11:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/10 11:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:10:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:10:20 INFO: [Worker 0] Worker 0 house 1 episode 165/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:10:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:10:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:10:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:10:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:10:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:10:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.775s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:10:22 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.577[m] 80.952[deg]	[grasp_sample.py: 539]
+05/10 11:10:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:10:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:10:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:10:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:11:08 INFO: [Worker 0] Worker 0 house 1 episode 163 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:11:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:11:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:11:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:11:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:11:34 INFO: [Worker 0] Saved videos eagerly for episode 126 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:11:34 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 11:11:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:11:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:11:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:11:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:11:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:11:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.54s (batch: 4.74s, save: 9.81s)	[pipeline.py: 300]
+05/10 11:11:50 INFO: [Worker 0] [PROFILE] Episode 163 house 1 success=True episode_total=0.44s:
+  episode_total: mean=227.37s, total=227.37s, count=1, min=227370.1ms, max=227370.1ms
+  sensor_polling: mean=566.8ms, total=170.05s, count=300, min=459.0ms, max=1153.8ms
+  save_trajectories: mean=9.81s, total=9.81s, count=1, min=9805.7ms, max=9805.7ms
+  physics_step: mean=29.9ms, total=8.96s, count=300, min=19.6ms, max=120.2ms
+  save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4736.8ms, max=4736.8ms
+  task_sampling: mean=442.4ms, total=442.4ms, count=1, min=442.4ms, max=442.4ms
+  task_specific_sample: mean=438.6ms, total=438.6ms, count=1, min=438.6ms, max=438.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=458.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:11:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:11:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:11:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:11:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:11:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:11:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:11:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:11:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:11:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005950m	[env.py: 870]
+05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:11:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85248997  0.20877339 -0.00594978] yaw=165.6deg	[env.py: 1019]
+05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77580107  0.41629608 -0.00594978] yaw=169.3deg	[env.py: 1019]
+05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.20598361  1.00381562 -0.00594978] yaw=-123.1deg	[env.py: 1019]
+05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:11:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=227.5ms, total=227.5ms	[env.py: 1075]
+05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.852, 0.209, -0.006)	[env.py: 1079]
+05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.6 deg	[env.py: 1082]
+05/10 11:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/10 11:11:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:11:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:11:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:11:52 INFO: [Worker 0] Worker 0 house 1 episode 164/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:11:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:11:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:11:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:11:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:11:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.658s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:11:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.422[m] 88.379[deg]	[grasp_sample.py: 539]
+05/10 11:11:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:11:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:11:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:12:16 INFO: [Worker 0] Worker 0 house 1 episode 171 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:12:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:12:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:12:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:12:47 INFO: [Worker 0] Saved videos eagerly for episode 126 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:12:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 11:12:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:12:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:12:56 INFO: [Worker 0] Worker 0 house 1 episode 175 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:12:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:13:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:13:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:13:01 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.56s (batch: 4.59s, save: 9.97s)	[pipeline.py: 300]
+05/10 11:13:02 INFO: [Worker 0] [PROFILE] Episode 171 house 1 success=True episode_total=0.75s:
+  episode_total: mean=224.20s, total=224.20s, count=1, min=224201.3ms, max=224201.3ms
+  sensor_polling: mean=547.1ms, total=164.14s, count=300, min=456.9ms, max=970.7ms
+  save_trajectories: mean=9.97s, total=9.97s, count=1, min=9966.5ms, max=9966.5ms
+  physics_step: mean=27.7ms, total=8.30s, count=300, min=19.4ms, max=81.0ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4589.6ms, max=4589.6ms
+  task_sampling: mean=754.8ms, total=754.8ms, count=1, min=754.8ms, max=754.8ms
+  task_specific_sample: mean=749.8ms, total=749.8ms, count=1, min=749.8ms, max=749.8ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=650.9us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:13:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:13:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:13:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:13:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:13:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:13:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:13:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:13:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:13:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:13:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:13:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004772m	[env.py: 870]
+05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:13:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84519638  0.38716515 -0.00477242] yaw=182.4deg	[env.py: 1019]
+05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9982889   0.13152561 -0.00477242] yaw=161.1deg	[env.py: 1019]
+05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8361702   0.22896649 -0.00477242] yaw=169.9deg	[env.py: 1019]
+05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:13:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.8ms, total=153.8ms	[env.py: 1075]
+05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.845, 0.387, -0.005)	[env.py: 1079]
+05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.4 deg	[env.py: 1082]
+05/10 11:13:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m	[env.py: 1086]
+05/10 11:13:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:13:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:13:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:13:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:13:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:13:04 INFO: [Worker 0] Worker 0 house 1 episode 172/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:13:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.176s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:13:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:13:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:13:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:13:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.183s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:13:06 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.400[m] 84.563[deg]	[grasp_sample.py: 539]
+05/10 11:13:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:13:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:13:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:13:26 INFO: [Worker 0] Saved videos eagerly for episode 116 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:13:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 11:13:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:13:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:13:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:13:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.24s (batch: 4.63s, save: 9.61s)	[pipeline.py: 300]
+05/10 11:13:42 INFO: [Worker 0] [PROFILE] Episode 175 house 1 success=True episode_total=0.56s:
+  episode_total: mean=229.63s, total=229.63s, count=1, min=229634.9ms, max=229634.9ms
+  sensor_polling: mean=559.1ms, total=167.73s, count=300, min=473.9ms, max=996.0ms
+  save_trajectories: mean=9.61s, total=9.61s, count=1, min=9608.1ms, max=9608.1ms
+  physics_step: mean=28.0ms, total=8.41s, count=300, min=19.7ms, max=106.6ms
+  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4631.7ms, max=4631.7ms
+  task_sampling: mean=560.6ms, total=560.6ms, count=1, min=560.6ms, max=560.6ms
+  task_specific_sample: mean=556.7ms, total=556.7ms, count=1, min=556.7ms, max=556.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=462.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:13:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:13:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:13:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:13:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:13:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:13:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:13:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:13:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:13:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018421m	[env.py: 870]
+05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:13:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07795015  1.11972237  0.01842072] yaw=-124.1deg	[env.py: 1019]
+05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83246135  0.42610483  0.01842072] yaw=171.9deg	[env.py: 1019]
+05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98282656  0.21636654  0.01842072] yaw=157.7deg	[env.py: 1019]
+05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:13:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=376.2ms, total=376.2ms	[env.py: 1075]
+05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.078, 1.120, 0.018)	[env.py: 1079]
+05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.1 deg	[env.py: 1082]
+05/10 11:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
+05/10 11:13:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:13:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:13:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:13:46 INFO: [Worker 0] Worker 0 house 1 episode 176/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:13:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.200s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:13:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:13:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:13:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.148s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:13:47 INFO: [Worker 0] Worker 0 house 1 episode 165 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:13:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.604s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:13:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.489[m] 92.814[deg]	[grasp_sample.py: 539]
+05/10 11:13:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:13:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:13:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:13:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:14:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:14:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:14:12 INFO: [Worker 0] Saved videos eagerly for episode 120 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:14:12 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 11:14:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:14:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:14:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:14:29 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.14s (batch: 5.65s, save: 10.49s)	[pipeline.py: 300]
+05/10 11:14:29 INFO: [Worker 0] [PROFILE] Episode 165 house 1 success=True episode_total=0.71s:
+  episode_total: mean=250.17s, total=250.17s, count=1, min=250172.4ms, max=250172.4ms
+  sensor_polling: mean=552.1ms, total=165.64s, count=300, min=447.9ms, max=963.7ms
+  save_trajectories: mean=10.49s, total=10.49s, count=1, min=10491.0ms, max=10491.0ms
+  physics_step: mean=27.4ms, total=8.22s, count=300, min=19.2ms, max=65.2ms
+  save_batch_prep: mean=5.65s, total=5.65s, count=1, min=5647.9ms, max=5647.9ms
+  task_sampling: mean=714.8ms, total=714.8ms, count=1, min=714.8ms, max=714.8ms
+  task_specific_sample: mean=710.4ms, total=710.4ms, count=1, min=710.4ms, max=710.4ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=537.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:14:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:14:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:14:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:14:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:14:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:14:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:14:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012877m	[env.py: 870]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:14:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11461783  0.96136897  0.01287673] yaw=-136.8deg	[env.py: 1019]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9669272   0.85036587  0.01287673] yaw=-149.0deg	[env.py: 1019]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.65079299  0.71458225  0.01287673] yaw=-166.3deg	[env.py: 1019]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:14:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=215.2ms, total=215.2ms	[env.py: 1075]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.115, 0.961, 0.013)	[env.py: 1079]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.8 deg	[env.py: 1082]
+05/10 11:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m	[env.py: 1086]
+05/10 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:14:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:14:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:14:32 INFO: [Worker 0] Worker 0 house 1 episode 166/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:14:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:14:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:14:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:14:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:14:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.579s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:14:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.377[m] 97.676[deg]	[grasp_sample.py: 539]
+05/10 11:14:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:14:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:14:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:14:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:14:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:14:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:14:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:14:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:14:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:14:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:14:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:14:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:14:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:14:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:14:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:14:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:14:55 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.483s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:14:55 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.946[deg]	[grasp_sample.py: 539]
+05/10 11:14:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:14:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:14:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:14:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:15:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:15:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:15:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:15:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:15:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:15:20 INFO: [Worker 0] Worker 0 house 1 episode 164 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:15:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:15:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:15:51 INFO: [Worker 0] Saved videos eagerly for episode 127 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:15:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 11:15:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:16:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:16:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:16:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.64s (batch: 4.92s, save: 11.72s)	[pipeline.py: 300]
+05/10 11:16:08 INFO: [Worker 0] [PROFILE] Episode 164 house 1 success=True episode_total=0.54s:
+  episode_total: mean=256.42s, total=256.42s, count=1, min=256423.1ms, max=256423.1ms
+  sensor_polling: mean=562.4ms, total=168.73s, count=300, min=463.7ms, max=1041.3ms
+  save_trajectories: mean=11.72s, total=11.72s, count=1, min=11721.4ms, max=11721.4ms
+  physics_step: mean=29.3ms, total=8.80s, count=300, min=19.4ms, max=127.1ms
+  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4915.3ms, max=4915.3ms
+  task_sampling: mean=544.4ms, total=544.4ms, count=1, min=544.4ms, max=544.4ms
+  task_specific_sample: mean=540.2ms, total=540.2ms, count=1, min=540.2ms, max=540.2ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=606.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:16:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:16:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:16:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:16:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:16:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:16:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:16:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:16:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:16:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009857m	[env.py: 870]
+05/10 11:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:16:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80860271  0.42573528  0.00985729] yaw=186.8deg	[env.py: 1019]
+05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81020607  0.16573909  0.00985729] yaw=164.2deg	[env.py: 1019]
+05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:16:11 INFO: [Worker 0] Worker 0 house 1 episode 172 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.71454376  0.36614581  0.00985729] yaw=181.8deg	[env.py: 1019]
+05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:16:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=320.5ms, total=320.5ms	[env.py: 1075]
+05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.809, 0.426, 0.010)	[env.py: 1079]
+05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.8 deg	[env.py: 1082]
+05/10 11:16:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/10 11:16:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:16:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:16:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:16:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:16:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:16:11 INFO: [Worker 0] Worker 0 house 1 episode 165/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:16:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:16:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:16:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:16:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:16:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.530s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:16:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.478[m] 96.111[deg]	[grasp_sample.py: 539]
+05/10 11:16:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:16:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:16:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:16:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:16:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:16:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:16:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:16:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:16:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:16:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:16:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:16:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:16:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:16:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:16:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:16:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:16:42 INFO: [Worker 0] Saved videos eagerly for episode 127 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:16:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 11:16:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:16:49 INFO: [Worker 0] Feasibility-checked 82 grasps in 12.088s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:16:49 INFO: [Worker 0] Feasible grasp found 121 (originally 6): w/ 0.258[m] 20.766[deg]	[grasp_sample.py: 539]
+05/10 11:16:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:16:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:16:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:16:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:16:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:16:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:16:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:16:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:16:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.75s (batch: 5.51s, save: 10.24s)	[pipeline.py: 300]
+05/10 11:16:58 INFO: [Worker 0] [PROFILE] Episode 172 house 1 success=True episode_total=0.53s:
+  episode_total: mean=234.47s, total=234.47s, count=1, min=234474.7ms, max=234474.7ms
+  sensor_polling: mean=558.8ms, total=167.64s, count=300, min=464.0ms, max=877.1ms
+  save_trajectories: mean=10.24s, total=10.24s, count=1, min=10242.6ms, max=10242.6ms
+  physics_step: mean=29.7ms, total=8.92s, count=300, min=19.6ms, max=99.0ms
+  save_batch_prep: mean=5.51s, total=5.51s, count=1, min=5508.4ms, max=5508.4ms
+  task_sampling: mean=528.9ms, total=528.9ms, count=1, min=528.9ms, max=528.9ms
+  task_specific_sample: mean=524.8ms, total=524.8ms, count=1, min=524.8ms, max=524.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=417.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:16:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:17:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:17:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:17:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:17:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:17:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:17:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:17:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:17:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:17:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014491m	[env.py: 870]
+05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:17:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88720472  0.72739871  0.01449133] yaw=-165.1deg	[env.py: 1019]
+05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.21079753  1.07621207  0.01449133] yaw=-131.0deg	[env.py: 1019]
+05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.98349411  0.2451539   0.01449133] yaw=164.9deg	[env.py: 1019]
+05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:17:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.4ms, total=219.4ms	[env.py: 1075]
+05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.887, 0.727, 0.014)	[env.py: 1079]
+05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.1 deg	[env.py: 1082]
+05/10 11:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/10 11:17:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:17:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:17:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:17:01 INFO: [Worker 0] Worker 0 house 1 episode 173/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:17:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:17:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:17:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:17:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:17:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:17:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:17:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.412[m] 87.318[deg]	[grasp_sample.py: 539]
+05/10 11:17:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:17:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:17:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:17:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:17:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:17:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:17:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:17:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:17:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:17:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:17:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:17:09 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.856s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:17:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.053[m] 27.997[deg]	[grasp_sample.py: 539]
+05/10 11:17:10 ERROR: [Worker 0] Worker 0 house 1 episode 176 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 11:17:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:17:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:17:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:17:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:17:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:17:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:17:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:17:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:17:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:17:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:17:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:17:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021196m	[env.py: 870]
+05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:17:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98187417  0.63467174 -0.02119619] yaw=-162.4deg	[env.py: 1019]
+05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62740073  0.47920402 -0.02119619] yaw=172.5deg	[env.py: 1019]
+05/10 11:17:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:17:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=342.9ms, total=343.0ms	[env.py: 1075]
+05/10 11:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.635, -0.021)	[env.py: 1079]
+05/10 11:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.4 deg	[env.py: 1082]
+05/10 11:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.736m	[env.py: 1086]
+05/10 11:17:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:17:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:17:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:17:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:17:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:17:13 INFO: [Worker 0] Worker 0 house 1 episode 177/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:17:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:17:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:17:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:17:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:17:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.493s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:17:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.267[m] 82.138[deg]	[grasp_sample.py: 539]
+05/10 11:17:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:17:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:17:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:17:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:17:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:17:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:17:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:17:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:17:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:17:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:17:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:17:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:17:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:17:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:17:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:17:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:17:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:17:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:17:42 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.728s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:17:42 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.349[deg]	[grasp_sample.py: 539]
+05/10 11:17:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:17:43 ERROR: [Worker 0] Worker 0 house 1 episode 166 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 11:17:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:17:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:17:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:17:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:17:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:17:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:17:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:17:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:17:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046724m	[env.py: 870]
+05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:17:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75456103  0.82571162 -0.0467239 ] yaw=-158.7deg	[env.py: 1019]
+05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.70066927  0.16431873 -0.0467239 ] yaw=159.6deg	[env.py: 1019]
+05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:17:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=271.0ms, total=271.0ms	[env.py: 1075]
+05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.755, 0.826, -0.047)	[env.py: 1079]
+05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.7 deg	[env.py: 1082]
+05/10 11:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m	[env.py: 1086]
+05/10 11:17:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:17:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:17:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:17:45 INFO: [Worker 0] Worker 0 house 1 episode 167/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:17:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:17:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:17:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:17:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:17:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.243s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:17:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.582[m] 89.884[deg]	[grasp_sample.py: 539]
+05/10 11:17:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:17:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:17:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:17:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:17:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:17:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:17:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:18:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:18:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:18:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:19:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:19:08 INFO: [Worker 0] Worker 0 house 1 episode 165 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:19:39 INFO: [Worker 0] Saved videos eagerly for episode 128 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:19:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 11:19:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:19:49 INFO: [Worker 0] Worker 0 house 1 episode 177 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:19:54 INFO: [Worker 0] Worker 0 house 1 episode 173 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:19:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:19:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:19:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.64s (batch: 4.69s, save: 10.95s)	[pipeline.py: 300]
+05/10 11:19:56 INFO: [Worker 0] [PROFILE] Episode 165 house 1 success=True episode_total=0.65s:
+  episode_total: mean=225.22s, total=225.22s, count=1, min=225221.4ms, max=225221.4ms
+  sensor_polling: mean=542.7ms, total=162.80s, count=300, min=460.8ms, max=1003.3ms
+  save_trajectories: mean=10.95s, total=10.95s, count=1, min=10952.9ms, max=10952.9ms
+  physics_step: mean=26.3ms, total=7.88s, count=300, min=19.2ms, max=57.9ms
+  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4691.4ms, max=4691.4ms
+  task_sampling: mean=651.5ms, total=651.5ms, count=1, min=651.5ms, max=651.5ms
+  task_specific_sample: mean=643.1ms, total=643.1ms, count=1, min=643.1ms, max=643.1ms
+  scene_randomize: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms
+  mj_forward_sync: mean=559.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:19:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:19:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:19:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:19:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:19:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:19:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:19:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:19:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:19:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:19:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:19:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045319m	[env.py: 870]
+05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:19:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 129.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09669724  0.93395788  0.04531942] yaw=-138.7deg	[env.py: 1019]
+05/10 11:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.68198027  0.09975695  0.04531942] yaw=149.8deg	[env.py: 1019]
+05/10 11:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:19:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=283.6ms, total=283.7ms	[env.py: 1075]
+05/10 11:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.097, 0.934, 0.045)	[env.py: 1079]
+05/10 11:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.7 deg	[env.py: 1082]
+05/10 11:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
+05/10 11:19:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:19:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:19:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:19:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:19:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:19:58 INFO: [Worker 0] Worker 0 house 1 episode 166/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:19:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:19:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:19:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:19:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:19:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:19:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.324[m] 92.842[deg]	[grasp_sample.py: 539]
+05/10 11:19:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:19:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:19:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:20:17 INFO: [Worker 0] Saved videos eagerly for episode 117 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:20:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 11:20:17 INFO: [Worker 0] Preparing episode data: 275 timesteps	[save_utils.py: 278]
+05/10 11:20:23 INFO: [Worker 0] Saved videos eagerly for episode 128 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:20:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 11:20:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:20:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:20:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:20:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.17s (batch: 4.87s, save: 12.30s)	[pipeline.py: 300]
+05/10 11:20:34 INFO: [Worker 0] [PROFILE] Episode 177 house 1 success=True episode_total=1.35s:
+  episode_total: mean=203.88s, total=407.75s, count=2, min=202282.2ms, max=205469.7ms
+  sensor_polling: mean=529.9ms, total=294.12s, count=555, min=445.6ms, max=1146.9ms
+  physics_step: mean=26.5ms, total=14.68s, count=555, min=17.6ms, max=134.1ms
+  save_trajectories: mean=12.30s, total=12.30s, count=1, min=12300.4ms, max=12300.4ms
+  save_batch_prep: mean=4.87s, total=4.87s, count=1, min=4872.9ms, max=4872.9ms
+  task_sampling: mean=676.4ms, total=1.35s, count=2, min=618.9ms, max=733.9ms
+  task_specific_sample: mean=672.2ms, total=1.34s, count=2, min=615.6ms, max=728.8ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.4ms, max=3.4ms
+  mj_forward_sync: mean=507.1us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=23.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:20:35 INFO: [Worker 0] Worker 0 house 1 episode 167 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:20:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:20:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:20:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:20:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:20:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:20:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:20:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:20:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:20:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:20:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:20:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:20:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027816m	[env.py: 870]
+05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:20:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99213188  0.27891664  0.0278155 ] yaw=172.4deg	[env.py: 1019]
+05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72412481  0.72722164  0.0278155 ] yaw=-160.1deg	[env.py: 1019]
+05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96744112  1.29288778  0.0278155 ] yaw=-129.6deg	[env.py: 1019]
+05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:20:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.8ms, total=155.9ms	[env.py: 1075]
+05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.992, 0.279, 0.028)	[env.py: 1079]
+05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.4 deg	[env.py: 1082]
+05/10 11:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.739m	[env.py: 1086]
+05/10 11:20:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:20:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:20:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:20:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:20:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:20:36 INFO: [Worker 0] Worker 0 house 1 episode 178/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:20:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:20:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:20:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:20:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:20:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:20:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.347[m] 101.201[deg]	[grasp_sample.py: 539]
+05/10 11:20:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:20:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:20:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:20:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:20:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:20:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.46s (batch: 5.47s, save: 10.99s)	[pipeline.py: 300]
+05/10 11:20:40 INFO: [Worker 0] [PROFILE] Episode 173 house 1 success=True episode_total=0.53s:
+  episode_total: mean=219.81s, total=219.81s, count=1, min=219807.4ms, max=219807.4ms
+  sensor_polling: mean=533.7ms, total=160.10s, count=300, min=444.2ms, max=1021.7ms
+  save_trajectories: mean=10.99s, total=10.99s, count=1, min=10989.4ms, max=10989.4ms
+  physics_step: mean=26.8ms, total=8.03s, count=300, min=16.2ms, max=117.5ms
+  save_batch_prep: mean=5.47s, total=5.47s, count=1, min=5467.0ms, max=5467.0ms
+  task_sampling: mean=529.6ms, total=529.6ms, count=1, min=529.6ms, max=529.6ms
+  task_specific_sample: mean=525.2ms, total=525.2ms, count=1, min=525.2ms, max=525.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=558.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:20:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:20:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:20:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:20:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:20:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:20:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:20:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:20:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:20:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010814m	[env.py: 870]
+05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:20:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06887059  1.12950374  0.01081428] yaw=-127.9deg	[env.py: 1019]
+05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69401924  0.87104944  0.01081428] yaw=-155.2deg	[env.py: 1019]
+05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94388493  0.47753309  0.01081428] yaw=169.7deg	[env.py: 1019]
+05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:20:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.9ms, total=112.9ms	[env.py: 1075]
+05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.069, 1.130, 0.011)	[env.py: 1079]
+05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.9 deg	[env.py: 1082]
+05/10 11:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
+05/10 11:20:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:20:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:20:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:20:42 INFO: [Worker 0] Worker 0 house 1 episode 174/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:20:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:20:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:20:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:20:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:20:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.625s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:20:44 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.511[m] 95.889[deg]	[grasp_sample.py: 539]
+05/10 11:20:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:20:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:20:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:20:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:20:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:21:00 INFO: [Worker 0] Saved videos eagerly for episode 121 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:21:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 11:21:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:21:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:21:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:21:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:21:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.43s (batch: 4.59s, save: 9.84s)	[pipeline.py: 300]
+05/10 11:21:16 INFO: [Worker 0] [PROFILE] Episode 167 house 1 success=True episode_total=1.10s:
+  episode_total: mean=201.45s, total=402.90s, count=2, min=191737.2ms, max=211157.9ms
+  sensor_polling: mean=535.3ms, total=319.06s, count=596, min=420.5ms, max=1016.8ms
+  physics_step: mean=26.0ms, total=15.47s, count=596, min=19.2ms, max=82.8ms
+  save_trajectories: mean=9.84s, total=9.84s, count=1, min=9844.2ms, max=9844.2ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4586.2ms, max=4586.2ms
+  task_sampling: mean=548.3ms, total=1.10s, count=2, min=546.0ms, max=550.5ms
+  task_specific_sample: mean=544.4ms, total=1.09s, count=2, min=543.0ms, max=545.7ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.4ms, max=3.2ms
+  mj_forward_sync: mean=538.2us, total=1.1ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:21:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:21:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:21:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:21:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:21:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:21:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:21:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:21:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:21:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008185m	[env.py: 870]
+05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:21:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9970272   0.19183449 -0.00818507] yaw=153.8deg	[env.py: 1019]
+05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72676679  0.2805655  -0.00818507] yaw=172.5deg	[env.py: 1019]
+05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82361693  0.84483168 -0.00818507] yaw=-160.7deg	[env.py: 1019]
+05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:21:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=495.8ms, total=495.8ms	[env.py: 1075]
+05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.997, 0.192, -0.008)	[env.py: 1079]
+05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.8 deg	[env.py: 1082]
+05/10 11:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.763m	[env.py: 1086]
+05/10 11:21:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:21:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:21:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:21:18 INFO: [Worker 0] Worker 0 house 1 episode 168/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:21:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:21:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:21:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:21:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:21:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.788s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:21:19 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.317[m] 90.554[deg]	[grasp_sample.py: 539]
+05/10 11:21:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:21:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:21:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:21:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:21:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:21:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:21:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:21:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:21:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:21:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:21:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:22:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:22:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:22:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:22:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:22:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:22:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:22:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:22:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:22:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:22:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:22:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:22:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:22:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:22:13 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.614s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:22:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.482[deg]	[grasp_sample.py: 539]
+05/10 11:22:14 ERROR: [Worker 0] Worker 0 house 1 episode 178 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 11:22:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:22:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:22:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:22:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:22:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:22:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:22:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015925m	[env.py: 870]
+05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:22:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80611022  0.57475162 -0.01592548] yaw=-179.7deg	[env.py: 1019]
+05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83261214  0.05523552 -0.01592548] yaw=157.5deg	[env.py: 1019]
+05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:22:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=376.1ms, total=376.1ms	[env.py: 1075]
+05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.575, -0.016)	[env.py: 1079]
+05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.7 deg	[env.py: 1082]
+05/10 11:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
+05/10 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:22:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:22:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:22:17 INFO: [Worker 0] Worker 0 house 1 episode 179/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:22:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:22:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:22:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:22:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:22:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.499s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:22:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.437[m] 81.239[deg]	[grasp_sample.py: 539]
+05/10 11:22:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:22:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:22:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:22:38 INFO: [Worker 0] Worker 0 house 1 episode 166 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:23:02 INFO: [Worker 0] Saved videos eagerly for episode 129 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:23:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 11:23:02 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/10 11:23:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:23:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:23:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:23:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:23:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:23:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:23:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:23:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:23:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:23:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:23:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:23:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.68s (batch: 4.29s, save: 10.39s)	[pipeline.py: 300]
+05/10 11:23:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:23:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:23:17 INFO: [Worker 0] [PROFILE] Episode 166 house 1 success=True episode_total=0.62s:
+  episode_total: mean=199.63s, total=199.63s, count=1, min=199626.9ms, max=199626.9ms
+  sensor_polling: mean=516.3ms, total=148.17s, count=287, min=427.4ms, max=1115.0ms
+  save_trajectories: mean=10.39s, total=10.39s, count=1, min=10389.7ms, max=10389.7ms
+  physics_step: mean=26.2ms, total=7.51s, count=287, min=16.4ms, max=87.3ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4293.9ms, max=4293.9ms
+  task_sampling: mean=622.1ms, total=622.1ms, count=1, min=622.1ms, max=622.1ms
+  task_specific_sample: mean=618.5ms, total=618.5ms, count=1, min=618.5ms, max=618.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=414.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:23:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:23:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:23:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:23:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:23:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:23:19 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.399s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:23:19 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.135[deg]	[grasp_sample.py: 539]
+05/10 11:23:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:23:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:23:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:23:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:23:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:23:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:23:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:23:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:23:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:23:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:23:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:23:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035668m	[env.py: 870]
+05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:23:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05129028  0.98193404 -0.03566769] yaw=-147.5deg	[env.py: 1019]
+05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92910885  0.460038   -0.03566769] yaw=170.5deg	[env.py: 1019]
+05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74197371  0.48670528 -0.03566769] yaw=-168.6deg	[env.py: 1019]
+05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:23:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.3ms, total=87.3ms	[env.py: 1075]
+05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.051, 0.982, -0.036)	[env.py: 1079]
+05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.5 deg	[env.py: 1082]
+05/10 11:23:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
+05/10 11:23:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:23:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:23:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:23:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:23:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:23:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:23:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:23:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:23:19 INFO: [Worker 0] Worker 0 house 1 episode 167/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:23:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:23:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:23:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:23:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:23:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.595s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:23:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.413[m] 89.274[deg]	[grasp_sample.py: 539]
+05/10 11:23:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:23:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:23:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:23:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:23:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:23:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:23:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:23:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:23:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:23:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:23:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:23:29 INFO: [Worker 0] Feasibility-checked 78 grasps in 3.909s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:23:29 ERROR: [Worker 0] Worker 0 house 1 episode 174 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/10 11:23:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:23:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:23:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:23:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:23:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:23:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:23:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:23:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:23:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026621m	[env.py: 870]
+05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:23:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84729865  0.03976508 -0.02662052] yaw=142.9deg	[env.py: 1019]
+05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.05325158  0.21407044 -0.02662052] yaw=166.8deg	[env.py: 1019]
+05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85085871  0.56891428 -0.02662052] yaw=-179.6deg	[env.py: 1019]
+05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:23:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=376.7ms, total=376.8ms	[env.py: 1075]
+05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.040, -0.027)	[env.py: 1079]
+05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.9 deg	[env.py: 1082]
+05/10 11:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/10 11:23:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:23:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:23:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:23:32 INFO: [Worker 0] Worker 0 house 1 episode 175/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:23:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:23:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:23:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:23:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:23:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:23:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.214s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:23:35 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.549[m] 96.934[deg]	[grasp_sample.py: 539]
+05/10 11:23:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:23:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:23:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:23:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:23:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:23:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:23:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:24:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:24:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:24:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:24:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:24:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:24:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:24:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:24:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:24:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:24:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:24:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:24:10 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.316s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:24:10 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.945[deg]	[grasp_sample.py: 539]
+05/10 11:24:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:24:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:24:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:24:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:24:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:24:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:24:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:24:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:24:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:24:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:24:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:24:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:24:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:24:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:24:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:24:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:24:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:24:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:24:51 INFO: [Worker 0] Worker 0 house 1 episode 168 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:24:57 INFO: [Worker 0] Worker 0 house 1 episode 179 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:25:14 INFO: [Worker 0] Saved videos eagerly for episode 122 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:25:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 11:25:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:25:22 INFO: [Worker 0] Saved videos eagerly for episode 118 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:25:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 11:25:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:25:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:25:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:25:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.68s (batch: 4.30s, save: 8.38s)	[pipeline.py: 300]
+05/10 11:25:27 INFO: [Worker 0] [PROFILE] Episode 168 house 1 success=True episode_total=0.89s:
+  episode_total: mean=249.81s, total=249.81s, count=1, min=249811.1ms, max=249811.1ms
+  sensor_polling: mean=513.4ms, total=154.03s, count=300, min=434.6ms, max=874.1ms
+  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8377.4ms, max=8377.4ms
+  physics_step: mean=23.4ms, total=7.02s, count=300, min=16.7ms, max=140.3ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4304.6ms, max=4304.6ms
+  task_sampling: mean=893.3ms, total=893.3ms, count=1, min=893.3ms, max=893.3ms
+  task_specific_sample: mean=889.2ms, total=889.2ms, count=1, min=889.2ms, max=889.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=394.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:25:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:25:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:25:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:25:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:25:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:25:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:25:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:25:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:25:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036671m	[env.py: 870]
+05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:25:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82954454  0.16424634 -0.03667115] yaw=157.8deg	[env.py: 1019]
+05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:25:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=183.2ms, total=183.2ms	[env.py: 1075]
+05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.830, 0.164, -0.037)	[env.py: 1079]
+05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.8 deg	[env.py: 1082]
+05/10 11:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
+05/10 11:25:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:25:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:25:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:25:29 INFO: [Worker 0] Worker 0 house 1 episode 169/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:25:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:25:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:25:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:25:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:25:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.711s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:25:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.457[m] 82.757[deg]	[grasp_sample.py: 539]
+05/10 11:25:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:25:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:25:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:25:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:25:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:25:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.85s (batch: 4.31s, save: 8.54s)	[pipeline.py: 300]
+05/10 11:25:35 INFO: [Worker 0] [PROFILE] Episode 179 house 1 success=True episode_total=1.17s:
+  episode_total: mean=148.90s, total=297.80s, count=2, min=98186.5ms, max=199613.1ms
+  sensor_polling: mean=494.9ms, total=222.69s, count=450, min=415.1ms, max=985.4ms
+  physics_step: mean=25.0ms, total=11.24s, count=450, min=14.7ms, max=76.7ms
+  save_trajectories: mean=8.54s, total=8.54s, count=1, min=8542.3ms, max=8542.3ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4311.0ms, max=4311.0ms
+  task_sampling: mean=586.2ms, total=1.17s, count=2, min=462.4ms, max=710.0ms
+  task_specific_sample: mean=581.9ms, total=1.16s, count=2, min=458.4ms, max=705.4ms
+  scene_randomize: mean=2.6ms, total=5.1ms, count=2, min=2.5ms, max=2.6ms
+  mj_forward_sync: mean=530.7us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=16.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:25:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:25:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:25:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:25:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:25:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:25:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:25:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:25:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:25:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007842m	[env.py: 870]
+05/10 11:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:25:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.17760641  1.10110469 -0.00784156] yaw=-134.0deg	[env.py: 1019]
+05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11036275  1.10197281 -0.00784156] yaw=-143.1deg	[env.py: 1019]
+05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8287589   0.86605642 -0.00784156] yaw=-146.6deg	[env.py: 1019]
+05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:25:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=518.8ms, total=518.9ms	[env.py: 1075]
+05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.178, 1.101, -0.008)	[env.py: 1079]
+05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.0 deg	[env.py: 1082]
+05/10 11:25:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m	[env.py: 1086]
+05/10 11:25:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:25:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:25:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:25:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:25:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:25:38 INFO: [Worker 0] Worker 0 house 1 episode 180/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:25:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:25:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:25:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:25:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:25:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.051s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:25:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.451[m] 96.617[deg]	[grasp_sample.py: 539]
+05/10 11:25:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:25:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:25:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:25:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:25:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:25:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:25:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:25:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:25:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:26:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:26:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:26:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:26:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:26:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:26:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:26:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:26:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.058s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:26:05 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.264[deg]	[grasp_sample.py: 539]